Plugin that applies a random velocity to a linke periodically. More...
#include <RandomVelocityPlugin.hh>
Public Member Functions | |
| RandomVelocityPlugin () | |
| Constructor. More... | |
| ~RandomVelocityPlugin () | |
| Destructor. More... | |
| virtual void | Load (physics::ModelPtr _model, sdf::ElementPtr _sdf) |
| Load function. More... | |
| virtual void | Reset () |
| Override this method for custom plugin reset behavior. More... | |
 Public Member Functions inherited from gazebo::ModelPlugin | |
| ModelPlugin () | |
| Constructor. More... | |
| virtual | ~ModelPlugin () |
| Destructor. More... | |
| virtual void | Init () |
| Override this method for custom plugin initialization behavior. More... | |
| Public Member Functions inherited from gazebo::PluginT< ModelPlugin > | |
| PluginT () | |
| Constructor. More... | |
| virtual | ~PluginT () |
| 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... | |
Additional Inherited Members | |
| Public Types inherited from gazebo::PluginT< ModelPlugin > | |
| typedef boost::shared_ptr < ModelPlugin > | TPtr |
| plugin pointer type definition More... | |
| Static Public Member Functions inherited from gazebo::PluginT< ModelPlugin > | |
| static TPtr | Create (const std::string &_filename, const std::string &_name) |
| a class method that creates a plugin from a file name. More... | |
| Protected Attributes inherited from gazebo::PluginT< ModelPlugin > | |
| std::string | filename |
| Path to the shared library file. More... | |
| std::string | handleName |
| Short name. More... | |
| PluginType | type |
| Type of plugin. More... | |
Plugin that applies a random velocity to a linke periodically.
/// <!-- Apply a random velocity to the specified link--> /// <!-- In this example, we move a box around. A key property of the link /// is the frictionless surface --> /// <plugin name="random" filename="libRandomVelocityPlugin.so"> /// /// <!-- Name of the link in this model that receives the velocity --> /// <link>link</link> /// /// <!-- Initial velocity that is applied to the link --> /// <initial_velocity>0 0.5 0</initial_velocity> /// /// <!-- Scaling factor that is used to compute a new velocity --> /// <velocity_factor>0.5</velocity_factor> /// /// <!-- Time, in seconds, between new velocities --> /// <update_period>5</update_period> /// /// <!-- Clamp the X velocity value to between -1 and 1.--> /// <min_x>-1</min_x> /// <max_x>1</max_x> /// /// <!-- Clamp the Y velocity value to between 0 and 1.--> /// <min_y>0</min_y> /// <max_y>1</max_y> /// /// <!-- Clamp the Z velocity value to zero.--> /// <min_z>0</min_z> /// <max_z>0</max_z> /// </plugin> ///
See worlds/random_velocity.world for a complete example.
| gazebo::RandomVelocityPlugin::RandomVelocityPlugin | ( | ) |
Constructor.
| gazebo::RandomVelocityPlugin::~RandomVelocityPlugin | ( | ) |
Destructor.
|
virtual |
Load function.
Called when a Plugin is first created, and after the World has been loaded. This function should not be blocking.
| [in] | _model | Pointer to the Model |
| [in] | _sdf | Pointer to the SDF element of the plugin. |
Implements gazebo::ModelPlugin.
|
virtual |
Override this method for custom plugin reset behavior.
Reimplemented from gazebo::ModelPlugin.