JointControllerPrivate.hh
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1 /*
2  * Copyright (C) 2014-2016 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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13  * See the License for the specific language governing permissions and
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17 #ifndef _GAZEBO_JOINTCONTROLLER_PRIVATE_HH_
18 #define _GAZEBO_JOINTCONTROLLER_PRIVATE_HH_
19 
20 #include <string>
21 #include <map>
22 
25 #include "gazebo/common/PID.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
33  {
35  public: ModelPtr model;
36 
39 
41  public: std::map<std::string, JointPtr> joints;
42 
44  public: std::map<std::string, common::PID> posPids;
45 
47  public: std::map<std::string, common::PID> velPids;
48 
50  public: std::map<std::string, double> forces;
51 
53  public: std::map<std::string, double> positions;
54 
56  public: std::map<std::string, double> velocities;
57 
60 
63 
66  };
67  }
68 }
69 #endif
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:88
ModelPtr model
Model to control.
Definition: JointControllerPrivate.hh:35
transport::NodePtr node
Node for communication.
Definition: JointControllerPrivate.hh:59
common::Time prevUpdateTime
Last time the controller was updated.
Definition: JointControllerPrivate.hh:65
std::map< std::string, double > velocities
Joint velocities.
Definition: JointControllerPrivate.hh:56
boost::shared_ptr< Subscriber > SubscriberPtr
Definition: TransportTypes.hh:53
Forward declarations for transport.
std::vector< LinkPtr > Link_V
Definition: PhysicsTypes.hh:216
default namespace for gazebo
std::map< std::string, JointPtr > joints
Map of joint names to the joint pointer.
Definition: JointControllerPrivate.hh:41
std::map< std::string, double > forces
Forces applied to joints.
Definition: JointControllerPrivate.hh:50
std::map< std::string, double > positions
Joint positions.
Definition: JointControllerPrivate.hh:53
transport::SubscriberPtr jointCmdSub
Subscribe to joint command.
Definition: JointControllerPrivate.hh:62
std::map< std::string, common::PID > velPids
Velocity PID controllers.
Definition: JointControllerPrivate.hh:47
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
std::map< std::string, common::PID > posPids
Position PID controllers.
Definition: JointControllerPrivate.hh:44
Link_V updatedLinks
List of links that have been updated.
Definition: JointControllerPrivate.hh:38
Definition: JointControllerPrivate.hh:32
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:44