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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]_modelModel that uses this joint controller.

Member Function Documentation

void gazebo::physics::JointController::AddJoint ( JointPtr  _joint)

Add a joint to control.

Parameters
[in]_jointJoint 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]_jointJoint to set.
[in]_positionPosition 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.


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