gazebo::physics::JointController Class Reference

A class for manipulating physics::Joint. More...

#include <physics/physics.hh>

Public Member Functions
	JointController (ModelPtr _model)
	Constructor. More...
void	AddJoint (JointPtr _joint)
	Add a joint to control. More...
void	Reset ()
	Reset all commands. More...
void	SetJointPosition (const std::string &_name, double _position, int _index=0)
	Set the positions of a Joint by name. More...
void	SetJointPosition (JointPtr _joint, double _position, int _index=0)
	Set the positions of a Joint by name The position is specified in native units, which means, if you are using metric system, it's meters for SliderJoint and radians for HingeJoint, etc. More...
void	SetJointPositions (const std::map< std::string, double > &_jointPositions)
	Set the positions of a set of Joint's. More...
void	Update ()
	Update the joint control. More...

Detailed Description

A class for manipulating physics::Joint.

Constructor & Destructor Documentation

gazebo::physics::JointController::JointController ( ModelPtr  _model )

explicit

Constructor.

Parameters

[in]

_model

Model that uses this joint controller.

Member Function Documentation

void gazebo::physics::JointController::AddJoint

(

JointPtr

_joint

)

Add a joint to control.

Parameters

[in]

_joint

Joint to control.

void gazebo::physics::JointController::Reset

(

)

Reset all commands.

void gazebo::physics::JointController::SetJointPosition	(	const std::string &	_name,
		double	_position,
		int	_index = 0
	)

Set the positions of a Joint by name.

See Also

JointController::SetJointPosition(JointPtr, double)

void gazebo::physics::JointController::SetJointPosition	(	JointPtr	_joint,
		double	_position,
		int	_index = 0
	)

Set the positions of a Joint by name The position is specified in native units, which means, if you are using metric system, it's meters for SliderJoint and radians for HingeJoint, etc.

Implementation: In order to change the position of a Joint inside a Model, this call must recursively crawl through all the connected children Link's in this Model, and update each Link Pose affected by this Joint angle update. Warning: There is no constraint satisfaction being done here, traversal through the kinematic graph has unexpected behavior if you try to set the joint position of a link inside a loop structure.

Parameters

[in]	_joint	Joint to set.
[in]	_position	Position of the joint.

void gazebo::physics::JointController::SetJointPositions

(

const std::map< std::string, double > &

_jointPositions

)

Set the positions of a set of Joint's.

See Also

JointController::SetJointPosition(JointPtr, double)

void gazebo::physics::JointController::Update

(

)

Update the joint control.

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

• JointController.hh