An approximate model of non-deformable tracks emulated by wheels. More...

#include <WheelTrackedVehiclePlugin.hh>

Classes
struct	WheelInfo
	Holds information about each wheel. More...

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

Public Member Functions
	WheelTrackedVehiclePlugin ()=default

virtual	~WheelTrackedVehiclePlugin ()=default

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...

void	Init () override
	Initialize the plugin. More...

void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf) override
	Called when the plugin is loaded. More...

void	Reset () override
	Reset the plugin. 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 Types
typedef std::vector< WheelInfoPtr >	WheelInfo_V

typedef std::shared_ptr< WheelInfo >	WheelInfoPtr

Protected Member Functions
virtual std::string	GetRobotNamespace ()
	Namespace used as a prefix for gazebo topic names. More...

virtual double	GetSteeringEfficiency ()
	Steering efficiency coefficient (between 0.0 and 1.0). More...

virtual boost::optional< double >	GetTrackMu ()
	Friction coefficient in the first friction direction. More...

virtual boost::optional< double >	GetTrackMu2 ()
	Friction coefficient in the second friction direction. More...

virtual double	GetTracksSeparation ()
	Distance between the centers of the tracks. More...

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...

void	LoadWheel (physics::ModelPtr &_model, Tracks &_track, const std::string &_jointName)
	Load a wheel connected to joint named jointName and append it to this->wheels[track]. More...

virtual void	OnVelMsg (ConstPosePtr &_msg) GAZEBO_DEPRECATED(9.0)
	Callback for setting desired body velocity. More...

void	OnVelMsg (ConstTwistPtr &_msg)
	Callback for setting desired body velocity. More...

void	SetBodyVelocity (double _linear, double _angular)
	Set new target velocity for the tracks based on the desired. More...

void	SetLinkMu (const physics::LinkPtr &_link)
	Set mu and mu2 of all collisions of the given link to values given by GetTrackMu() and GetTrackMu2(). More...

virtual void	SetSteeringEfficiency (double _steeringEfficiency)
	Set steering efficiency coefficient (between 0.0 and 1.0). More...

virtual void	SetTrackMu (double _mu)
	Friction coefficient in the first friction direction. More...

virtual void	SetTrackMu2 (double _mu2)
	Friction coefficient in the second friction direction. More...

virtual void	SetTrackVelocity (double _left, double _right)
	Set new target velocity for the tracks. More...

void	SetTrackVelocityImpl (double _left, double _right) override
	Set new target velocity for the tracks. More...

void	UpdateTrackSurface () override
	Update surface parameters of the tracks to correspond to the values set in this plugin. More...

Protected Attributes
double	defaultWheelRadius
	The radius (in meters) used for wheels where autodetection fails. More...

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

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

std::mutex	mutex
	Mutex to protect updates. More...

std::unordered_map< Tracks, std::string >	trackNames
	Textual lowercase names of the tracks. More...

std::unordered_map< Tracks, double >	trackVelocity
	Desired velocities of the tracks. More...

PluginType	type
	Type of plugin. More...

std::unordered_map< Tracks, WheelInfo_V >	wheels
	The wheels on the LEFT/RIGHT track. More...

physics::WorldPtr	world
	Pointer to the world the model lives in. More...

Detailed Description

An approximate model of non-deformable tracks emulated by wheels.

Since: 8.1

Inserting this model in simulation automatically sets the friction model to "cone_model", which is required for the model to correctly steer.

The plugin processes the following parameters, plus the common parameters defined in TrackedVehiclePlugin.

<left_joint> Name of the revolute joint connecting a left wheel (should appear multiple times, once for each left wheel). <right_joint> Name of the revolute joint connecting a right wheel (should appear multiple times, once for each right wheel). <default_wheel_radius> The radius used for wheels where radius autodetection fails (default is 0.5 meters).

Member Typedef Documentation

◆ TPtr

typedef boost::shared_ptr<ModelPlugin > TPtr

inherited

plugin pointer type definition

◆ WheelInfo_V

typedef std::vector<WheelInfoPtr> WheelInfo_V

protected

◆ WheelInfoPtr

typedef std::shared_ptr<WheelInfo> WheelInfoPtr

protected

Constructor & Destructor Documentation

◆ WheelTrackedVehiclePlugin()

WheelTrackedVehiclePlugin ( )

default

◆ ~WheelTrackedVehiclePlugin()

virtual ~WheelTrackedVehiclePlugin ( )

virtualdefault

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.

◆ GetRobotNamespace()

virtual std::string GetRobotNamespace ( )

protectedvirtualinherited

Namespace used as a prefix for gazebo topic names.

◆ GetSteeringEfficiency()

virtual double GetSteeringEfficiency ( )

protectedvirtualinherited

Steering efficiency coefficient (between 0.0 and 1.0).

◆ GetTrackMu()

virtual boost::optional<double> GetTrackMu ( )

protectedvirtualinherited

Friction coefficient in the first friction direction.

◆ GetTrackMu2()

virtual boost::optional<double> GetTrackMu2 ( )

protectedvirtualinherited

Friction coefficient in the second friction direction.

◆ GetTracksSeparation()

virtual double GetTracksSeparation ( )

protectedvirtualinherited

Distance between the centers of the tracks.

◆ GetType()

PluginType GetType ( ) const

inlineinherited

Returns the type of the plugin.

Returns: type of the plugin

References PluginT< T >::type.

◆ Init()

void Init ( )

overridevirtual

Initialize the plugin.

Reimplemented from TrackedVehiclePlugin.

◆ Load()

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

overridevirtual

Called when the plugin is loaded.

Parameters

[in]	model	Pointer to the model for which the plugin is loaded
[in]	_sdf	Pointer to the SDF for _model

Reimplemented from TrackedVehiclePlugin.

◆ 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.

◆ LoadWheel()

void LoadWheel	(	physics::ModelPtr &	_model,
		Tracks &	_track,
		const std::string &	_jointName
	)

protected

Load a wheel connected to joint named jointName and append it to this->wheels[track].

Parameters

[in]	_model	The model to work with.
[in]	_track	The track this wheel belongs to.
[in]	_jointName	Name of the wheel joint.

◆ OnVelMsg() [1/2]

virtual void OnVelMsg ( ConstPosePtr & _msg )

protectedvirtualinherited

Callback for setting desired body velocity.

Normally, this callback converts the x/yaw message to track velocities and calls SetTrackVelocity().

Parameters

[in] _msg Pose message from external publisher

◆ OnVelMsg() [2/2]

void OnVelMsg ( ConstTwistPtr & _msg )

protectedinherited

Callback for setting desired body velocity.

Normally, this callback converts the x/yaw message to track velocities and calls SetTrackVelocity().

Parameters

[in] _msg Twist message from external publisher

◆ Reset()

void Reset ( )

overridevirtual

Reset the plugin.

Reimplemented from TrackedVehiclePlugin.

◆ SetBodyVelocity()

void SetBodyVelocity	(	double	_linear,
		double	_angular
	)

protectedinherited

Set new target velocity for the tracks based on the desired.

Parameters

[in]	_linear	Desired linear velocity of the vehicle.
[in]	_angular	Desired angular velocity of the vehicle.

◆ SetLinkMu()

void SetLinkMu ( const physics::LinkPtr & _link )

protectedinherited

Set mu and mu2 of all collisions of the given link to values given by GetTrackMu() and GetTrackMu2().

Parameters

[in] _link The link whose "mu"s are to be set.

◆ SetSteeringEfficiency()

virtual void SetSteeringEfficiency ( double _steeringEfficiency )

protectedvirtualinherited

Set steering efficiency coefficient (between 0.0 and 1.0).

Parameters

[in] _steeringEfficiency The new steering efficiency.

◆ SetTrackMu()

virtual void SetTrackMu ( double _mu )

protectedvirtualinherited

Friction coefficient in the first friction direction.

Parameters

[in] _mu The new coefficient.

◆ SetTrackMu2()

virtual void SetTrackMu2 ( double _mu2 )

protectedvirtualinherited

Friction coefficient in the second friction direction.

Parameters

[in] _mu2 The new coefficient.

◆ SetTrackVelocity()

virtual void SetTrackVelocity	(	double	_left,
		double	_right
	)

protectedvirtualinherited

Set new target velocity for the tracks.

Descendant classes need to implement this function.

Parameters

[in]	_left	Velocity of left track.
[in]	_right	Velocity of right track.

◆ SetTrackVelocityImpl()

void SetTrackVelocityImpl	(	double	_left,
		double	_right
	)

overrideprotectedvirtual

Set new target velocity for the tracks.

Parameters

[in]	_left	Velocity of left track.
[in]	_right	Velocity of right track.

Implements TrackedVehiclePlugin.

◆ UpdateTrackSurface()

void UpdateTrackSurface ( )

overrideprotectedvirtual

Update surface parameters of the tracks to correspond to the values set in this plugin.

Implements TrackedVehiclePlugin.

Member Data Documentation

◆ defaultWheelRadius

double defaultWheelRadius

protected

The radius (in meters) used for wheels where autodetection fails.

◆ filename

std::string filename

protectedinherited

Path to the shared library file.

◆ handleName

std::string handleName

protectedinherited

Short name.

◆ mutex

std::mutex mutex

protected

Mutex to protect updates.

◆ trackNames

std::unordered_map<Tracks, std::string> trackNames

protectedinherited

Textual lowercase names of the tracks.

◆ trackVelocity

std::unordered_map<Tracks, double> trackVelocity

protected

Desired velocities of the tracks.

◆ type

PluginType type

protectedinherited

Type of plugin.

◆ wheels

std::unordered_map<Tracks, WheelInfo_V> wheels

protected

The wheels on the LEFT/RIGHT track.

◆ world

physics::WorldPtr world

protected

Pointer to the world the model lives in.

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

WheelTrackedVehiclePlugin.hh

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ TPtr

◆ WheelInfo_V

◆ WheelInfoPtr

Constructor & Destructor Documentation

◆ WheelTrackedVehiclePlugin()

◆ ~WheelTrackedVehiclePlugin()

Member Function Documentation

◆ Create()

◆ GetFilename()

◆ GetHandle()

◆ GetRobotNamespace()

◆ GetSteeringEfficiency()

◆ GetTrackMu()

◆ GetTrackMu2()

◆ GetTracksSeparation()

◆ GetType()

◆ Init()

◆ Load()

◆ LoadParam() [1/2]

◆ LoadParam() [2/2]

◆ LoadWheel()

◆ OnVelMsg() [1/2]

◆ OnVelMsg() [2/2]

◆ Reset()

◆ SetBodyVelocity()

◆ SetLinkMu()

◆ SetSteeringEfficiency()

◆ SetTrackMu()

◆ SetTrackMu2()

◆ SetTrackVelocity()

◆ SetTrackVelocityImpl()

◆ UpdateTrackSurface()

Member Data Documentation

◆ defaultWheelRadius

◆ filename

◆ handleName

◆ mutex

◆ trackNames

◆ trackVelocity

◆ type

◆ wheels

◆ world