Interface ArduCopter from ardupilot stack modeled after SITL/SIM_*. More...
#include <ArduCopterPlugin.hh>
Inherits ModelPlugin.
Public Types | |
| typedef boost::shared_ptr < ModelPlugin > | TPtr |
| plugin pointer type definition More... | |
Public Member Functions | |
| ArduCopterPlugin () | |
| Constructor. More... | |
| ~ArduCopterPlugin () | |
| 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... | |
| virtual void | Init () |
| Override this method for custom plugin initialization behavior. 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... | |
Static Public Member Functions | |
| 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 | |
| std::string | filename |
| Path to the shared library file. More... | |
| std::string | handleName |
| Short name. More... | |
| PluginType | type |
| Type of plugin. More... | |
Interface ArduCopter from ardupilot stack modeled after SITL/SIM_*.
The plugin requires the following parameters: <rotor> rotor description block id attribute rotor id <vel_p_gain> velocity pid p gain <vel_i_gain> velocity pid i gain <vel_d_gain> velocity pid d gain <vel_i_max> velocity pid max integral correction <vel_i_min> velocity pid min integral correction <vel_cmd_max> velocity pid max command torque <vel_cmd_min> velocity pid min command torque <jointName> rotor motor joint, torque applied here <turningDirection> turning direction, 'cw' or 'ccw' <rotorVelocitySlowdownSim> experimental, not needed <imuName> scoped name for the imu sensor <connectionTimeoutMaxCount> timeout before giving up on controller synchronization
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inherited |
plugin pointer type definition
| ArduCopterPlugin | ( | ) |
Constructor.
| ~ArduCopterPlugin | ( | ) |
Destructor.
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inlinestaticinherited |
a class method that creates a plugin from a file name.
It locates the shared library and loads it dynamically.
| [in] | _filename | the path to the shared library. |
| [in] | _name | short name of the plugin |
References PluginT< T >::filename, gzerr, and SingletonT< SystemPaths >::Instance().
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inlineinherited |
Get the name of the handler.
References PluginT< T >::filename.
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inlineinherited |
Get the short name of the handler.
References PluginT< T >::handleName.
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inlineinherited |
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inlinevirtualinherited |
Override this method for custom plugin initialization behavior.
Reimplemented in BuoyancyPlugin, HarnessPlugin, FollowerPlugin, PlaneDemoPlugin, MudPlugin, CartDemoPlugin, VehiclePlugin, GimbalSmall2dPlugin, LinearBatteryPlugin, DiffDrivePlugin, and SphereAtlasDemoPlugin.
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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 ModelPlugin.
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inlinevirtualinherited |
Override this method for custom plugin reset behavior.
Reimplemented in RandomVelocityPlugin, ElevatorPlugin, FollowerPlugin, LinearBatteryPlugin, InitialVelocityPlugin, and SphereAtlasDemoPlugin.
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protectedinherited |
Path to the shared library file.
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protectedinherited |
Short name.
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protectedinherited |
Type of plugin.
Referenced by ModelPlugin::ModelPlugin().