gazebo::ElevatorPluginPrivate::DoorController Class Reference

Controller for opening and closing the elevator door. More...

#include <ElevatorPluginPrivate.hh>

Public Types
enum	State { MOVING, STATIONARY }
	Door motion states. More...
enum	Target { OPEN, CLOSE }
	Door targets. More...

Public Member Functions
	DoorController (physics::JointPtr _doorJoint)
	Constructor. More...
virtual	~DoorController ()=default
	Destructor. More...
ElevatorPluginPrivate::DoorController::State	GetState () const
	Get the current state. More...
ElevatorPluginPrivate::DoorController::Target	GetTarget () const
	Get the current target. More...
void	Reset ()
	Reset the controller. More...
void	SetTarget (ElevatorPluginPrivate::DoorController::Target _target)
	Set the target for the door (OPEN or CLOSE). More...
virtual bool	Update (const common::UpdateInfo &_info)
	Update the controller. More...

Public Attributes
physics::JointPtr	doorJoint
	Pointer to the door joint. More...
common::PID	doorPID
	PID controller for the door. More...
common::Time	prevSimTime
	Previous simulation time. More...
State	state
	Current door state. More...
Target	target
	Current door target. More...

Detailed Description

Controller for opening and closing the elevator door.

Member Enumeration Documentation

enum gazebo::ElevatorPluginPrivate::DoorController::State

Door motion states.

Enumerator
MOVING	The door is moving.
STATIONARY	The door is stationary.

enum gazebo::ElevatorPluginPrivate::DoorController::Target

Door targets.

Enumerator
OPEN	Open the door.
CLOSE	Close the door.

Constructor & Destructor Documentation

gazebo::ElevatorPluginPrivate::DoorController::DoorController

(

physics::JointPtr

_doorJoint

)

Constructor.

Parameters

[in]

_doorJoint

Pointer to the joint that should be controlled.

virtual gazebo::ElevatorPluginPrivate::DoorController::~DoorController ( )

virtualdefault

Destructor.

Member Function Documentation

ElevatorPluginPrivate::DoorController::State gazebo::ElevatorPluginPrivate::DoorController::GetState

(

)

const

Get the current state.

Returns

Current state.

ElevatorPluginPrivate::DoorController::Target gazebo::ElevatorPluginPrivate::DoorController::GetTarget

(

)

const

Get the current target.

Returns

Current target.

void gazebo::ElevatorPluginPrivate::DoorController::Reset

(

)

Reset the controller.

void gazebo::ElevatorPluginPrivate::DoorController::SetTarget

(

ElevatorPluginPrivate::DoorController::Target

_target

)

Set the target for the door (OPEN or CLOSE).

Parameters

[in]

_target

The target for the door.

virtual bool gazebo::ElevatorPluginPrivate::DoorController::Update ( const common::UpdateInfo &  _info )

virtual

Update the controller.

Parameters

[in]

_info

Update information provided by the server.

Returns

True if the target has been reached.

Member Data Documentation

physics::JointPtr gazebo::ElevatorPluginPrivate::DoorController::doorJoint

Pointer to the door joint.

common::PID gazebo::ElevatorPluginPrivate::DoorController::doorPID

PID controller for the door.

common::Time gazebo::ElevatorPluginPrivate::DoorController::prevSimTime

Previous simulation time.

State gazebo::ElevatorPluginPrivate::DoorController::state

Current door state.

Target gazebo::ElevatorPluginPrivate::DoorController::target

Current door target.

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

• ElevatorPluginPrivate.hh