gazebo::JointEventSource Class Reference

The event generator class. More...

#include <JointEventSource.hh>

Inheritance diagram for gazebo::JointEventSource:

Public Types
enum	Range {   POSITION, ANGLE, VELOCITY, FORCE,   INVALID }
	The type of data range measured. More...

Public Member Functions
	JointEventSource (transport::PublisherPtr _pub, physics::WorldPtr _world)
	Constructor. More...
void	Info () const
	Prints data about the event source to the log (useful for debug) More...
virtual void	Init ()
	Initialize the event. More...
virtual void	Load (const sdf::ElementPtr _sdf)
	Loads the full name of the model and the triggers from the world file. More...
void	Update ()
	Called every simulation step. More...
Public Member Functions inherited from gazebo::EventSource
	EventSource (transport::PublisherPtr _pub, const std::string &_type, physics::WorldPtr _world)
	Constructor. More...
virtual	~EventSource ()
	Destructor. More...
void	Emit (const std::string &_data) const
	emit an event with data to the internal publisher (and using the internal type) More...
virtual bool	IsActive () const
	An event source can be used to enable other events. More...

Additional Inherited Members
Protected Attributes inherited from gazebo::EventSource
bool	active
	True if the event source is active. More...
std::string	name
	Name of the event. More...
transport::PublisherPtr	pub
	a way to send messages to the other topics (to the REST) More...
std::string	type
	Type of event. More...
physics::WorldPtr	world
	Pointer to the world. More...

Detailed Description

The event generator class.

Events are generated when joint enters or leaves a certain trigger state. This type of event works with joints that have a single axis (revolute or prismatic). These are the most common for actuated joints. Triggers must be defined in the world, but models can be created during the simulation. Triggers cannot overlap.

///
///  This is an example joint event. It is triggered when the joint named
///  "joint" in the model "revoluter" has an angle value that enters or
///  leaves the range [3, 3.1416]. Triggers can also depend on the position,
///  velocity or applied force.
///
///  <event>
///    <name>joint_angle</name>
///    <type>joint</type>
///    <model>revoluter</model>
///    <joint>joint</joint>
///    <range>
///      <type>normalized_angle</type>
///      <min>3</min>
///      <max>3.1416</max>
///    </range>
///  </event>
///
/// 

Member Enumeration Documentation

enum gazebo::JointEventSource::Range

The type of data range measured.

Enumerator
POSITION	Absolute position (or angle, for revolute joints)
ANGLE	Normalized angle (between -PI and PI)
VELOCITY	Velocity or angular velocity.
FORCE	Applied force (or torque, for revolute joints)
INVALID	invalid

Constructor & Destructor Documentation

gazebo::JointEventSource::JointEventSource	(	transport::PublisherPtr	_pub,
		physics::WorldPtr	_world
	)

Constructor.

Parameters

[in]	_pub	the publisher for the SimEvents
[in]	_world	Pointer to the world.

Member Function Documentation

void gazebo::JointEventSource::Info

(

)

const

Prints data about the event source to the log (useful for debug)

virtual void gazebo::JointEventSource::Init ( )

virtual

Initialize the event.

Reimplemented from gazebo::EventSource.

virtual void gazebo::JointEventSource::Load ( const sdf::ElementPtr  _sdf )

virtual

Loads the full name of the model and the triggers from the world file.

Parameters

[in]

_sdf

The root sdf element for this joint event

Reimplemented from gazebo::EventSource.

void gazebo::JointEventSource::Update

(

)

Called every simulation step.

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

• JointEventSource.hh