A plugin that uses piecewise cubic Hermite splines to support arbitrary smooth input-output relationships between the input and output angles of a gearbox. More...

#include <VariableGearboxPlugin.hh>

Inherits ModelPlugin.

Public Types
typedef boost::shared_ptr< ModelPlugin >	TPtr
	plugin pointer type definition More...

Public Member Functions
	VariableGearboxPlugin ()
	Constructor. More...

virtual	~VariableGearboxPlugin ()
	Destructor. More...

std::string	GetFilename () const
	Get the name of the handler. More...

std::string	GetHandle () const
	Get the short name of the handler. More...

PluginType	GetType () const
	Returns the type of the plugin. More...

virtual void	Init ()
	Override this method for custom plugin initialization behavior. More...

void	Load (physics::ModelPtr _parent, sdf::ElementPtr _sdf)
	Load the controller. More...

virtual void	Reset ()
	Override this method for custom plugin reset behavior. More...

Static Public Member Functions
static TPtr	Create (const std::string &_filename, const std::string &_name)
	a class method that creates a plugin from a file name. More...

Protected Member Functions
void	LoadParam (const sdf::ElementPtr &_sdf, const std::string &_name, V &_target, V _defaultValue=V()) const
	Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found. More...

void	LoadParam (sdf::ElementPtr &_sdf, const std::string &_name, std::string &_target, const char *_defaultValue) const
	Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found. More...

Protected Attributes
std::string	filename
	Path to the shared library file. More...

std::string	handleName
	Short name. More...

PluginType	type
	Type of plugin. More...

Detailed Description

A plugin that uses piecewise cubic Hermite splines to support arbitrary smooth input-output relationships between the input and output angles of a gearbox.

It currently works for the ODE gearbox joint.

The ODE gearbox joint now supports linear constriants of the form:

    angle1 - refAngle1 = -ratio * (angle2 - refAngle2)

At each timestep, this plugin linearizes the splines based on the current joint state to compute refAngle1, refAngle2, and ratio and sets them in the ODE gearbox joint. The ODE solver then solves a linearized form of the nonlinear variable gearbox constraint.

The plugin parameters are the gearbox_joint_name as a string and multiple x_y_dydx parameters for specifying points and slopes of the input-output curves that will be interpolated by splines:

x: angle of the input joint y: angle of the output joint dy/dx: instantaneous gear ratio (change in output) / (change in input)

The following example snippet is taken from variable_gearbox_plugin.world

  <plugin name="variable_gearbox" filename="libVariableGearboxPlugin.so">
    <gearbox_joint_name>demo_joint_types::gearbox_demo</gearbox_joint_name>
    <x_y_dydx>1.2  -1.2  -1.0</x_y_dydx>
    <x_y_dydx>1.8  -7.5 -20.0</x_y_dydx>
  </plugin>

To aid in visualizing the splines produced by this plugin, please see the following ipython notebook: https://gist.github.com/scpeters/f7d87dd6578dee3fb95b90b402046679

Member Typedef Documentation

◆ TPtr

typedef boost::shared_ptr<ModelPlugin > TPtr

inherited

plugin pointer type definition

Constructor & Destructor Documentation

◆ VariableGearboxPlugin()

VariableGearboxPlugin ( )

Constructor.

◆ ~VariableGearboxPlugin()

virtual ~VariableGearboxPlugin ( )

virtual

Destructor.

Member Function Documentation

◆ Create()

static TPtr Create	(	const std::string &	_filename,
		const std::string &	_name
	)

inlinestaticinherited

a class method that creates a plugin from a file name.

It locates the shared library and loads it dynamically.

Parameters

[in]	_filename	the path to the shared library.
[in]	_name	short name of the plugin

Returns: Shared Pointer to this class type

References PluginT< T >::filename, gzerr, and SingletonT< SystemPaths >::Instance().

◆ GetFilename()

std::string GetFilename ( ) const

inlineinherited

Get the name of the handler.

References PluginT< T >::filename.

◆ GetHandle()

std::string GetHandle ( ) const

inlineinherited

Get the short name of the handler.

References PluginT< T >::handleName.

◆ GetType()

PluginType GetType ( ) const

inlineinherited

Returns the type of the plugin.

Returns: type of the plugin

References PluginT< T >::type.

◆ Init()

virtual void Init ( )

inlinevirtualinherited

Override this method for custom plugin initialization behavior.

Reimplemented in TrackedVehiclePlugin, KeysToCmdVelPlugin, SimpleTrackedVehiclePlugin, BuoyancyPlugin, HarnessPlugin, WheelTrackedVehiclePlugin, FollowerPlugin, PlaneDemoPlugin, MudPlugin, CartDemoPlugin, VehiclePlugin, GimbalSmall2dPlugin, LinearBatteryPlugin, DiffDrivePlugin, and SphereAtlasDemoPlugin.

◆ Load()

void Load	(	physics::ModelPtr	_parent,
		sdf::ElementPtr	_sdf
	)

virtual

Load the controller.

Implements ModelPlugin.

◆ LoadParam() [1/2]

void LoadParam	(	const sdf::ElementPtr &	_sdf,
		const std::string &	_name,
		V &	_target,
		V	_defaultValue = `V()`
	)		const

inlineprotectedinherited

Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.

A message is written using gzmsg reporting whether the default value was used or not.

Parameters

[in]	_sdf	The SDF element of the plugin.
[in]	_name	Name of a tag inside the SDF.
[out]	_target	The reference to store the param value to.
[in]	_defaultValue	The default value.

References gzmsg, and PluginT< T >::handleName.

◆ LoadParam() [2/2]

void LoadParam	(	sdf::ElementPtr &	_sdf,
		const std::string &	_name,
		std::string &	_target,
		const char *	_defaultValue
	)		const

inlineprotectedinherited

Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.

A message is written using gzmsg reporting whether the default value was used or not. String specialization to allow accepting const char* values for std::string parameters.

Parameters

[in]	_sdf	The SDF element of the plugin.
[in]	_name	Name of a tag inside the SDF.
[out]	_target	The reference to store the param value to.
[in]	_defaultValue	The default value.

◆ Reset()

virtual void Reset ( )

inlinevirtualinherited

Override this method for custom plugin reset behavior.

Reimplemented in TrackedVehiclePlugin, KeysToCmdVelPlugin, RandomVelocityPlugin, SimpleTrackedVehiclePlugin, ElevatorPlugin, WheelTrackedVehiclePlugin, FollowerPlugin, LinearBatteryPlugin, ActorPlugin, InitialVelocityPlugin, and SphereAtlasDemoPlugin.

Member Data Documentation

◆ filename

std::string filename

protectedinherited

Path to the shared library file.

◆ handleName

std::string handleName

protectedinherited

Short name.

◆ type

PluginType type

protectedinherited

Type of plugin.

The documentation for this class was generated from the following file:

VariableGearboxPlugin.hh

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ TPtr

Constructor & Destructor Documentation

◆ VariableGearboxPlugin()

◆ ~VariableGearboxPlugin()

Member Function Documentation

◆ Create()

◆ GetFilename()

◆ GetHandle()

◆ GetType()

◆ Init()

◆ Load()

◆ LoadParam() [1/2]

◆ LoadParam() [2/2]

◆ Reset()

Member Data Documentation

◆ filename

◆ handleName

◆ type