KeysToJointsPlugin Class Reference

Control joints in a model based on keypress messages received. More...

#include <KeysToJointsPlugin.hh>

Inherits ModelPlugin.

Public Types
typedef boost::shared_ptr < ModelPlugin >	TPtr
	plugin pointer type definition More...

Public Member Functions
	KeysToJointsPlugin ()
	Constructor. More...
	~KeysToJointsPlugin ()
	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...

Detailed Description

Control joints in a model based on keypress messages received.

The plugin accepts multiple <map> elements:

<map key="" joint="" type="" scale="" kp="" ki="" kd="">

Where:

• key: Key ASCII value (reference: http://ascii.cl/)
• joint: Joint name
• type: Available types: position, velocity, force.
• scale: Slightly different according to type:
  • position: scale is by how much the target position will increase or decrease for each key press.
  • velocity: The velocity target. This is not increased at each keypress.
  • force: The force to apply to the joint each time the key is pressed.

Examples:

1. Decrease joint "revolute_joint_name"'s angle by 0.1 rad at every click on the "i" key:

<map key="105" joint="revolute_joint_name" scale="-0.1" type="position" kp="1000" ki="0" kd="10">

1. Set joint "revolute_joint_name"'s angular velocity to 0.1 rad/s at every click on the "6" key:

<map key="54" joint="revolute_joint_name" scale="0.1" type="velocity" kp="200" ki="0" kd="0">

1. Apply -1000 N to joint "prismatic_joint_name" at every click on the "u" key:

<map key="117" joint="prismatic_joint_name" scale="-1000" type="force">

1. Check the example world "simple_arm_teleop.world" for a demo.

Member Typedef Documentation

typedef boost::shared_ptr<ModelPlugin > TPtr

inherited

plugin pointer type definition

Constructor & Destructor Documentation

KeysToJointsPlugin

(

)

Constructor.

~KeysToJointsPlugin

(

)

Destructor.

Member Function Documentation

static TPtr Create ( const std::string &  _filename, const std::string &  _name  )

inlinestaticinherited

a class method that creates a plugin from a file name.

It locates the shared library and loads it dynamically.

Parameters

[in]	_filename	the path to the shared library.
[in]	_name	short name of the plugin

Returns

Shared Pointer to this class type

References PluginT< T >::filename, gzerr, and SingletonT< SystemPaths >::Instance().

std::string GetFilename ( ) const

inlineinherited

Get the name of the handler.

References PluginT< T >::filename.

std::string GetHandle ( ) const

inlineinherited

Get the short name of the handler.

References PluginT< T >::handleName.

PluginType GetType ( ) const

inlineinherited

Returns the type of the plugin.

Returns

type of the plugin

References PluginT< T >::type.

virtual void Init ( )

inlinevirtualinherited

Override this method for custom plugin initialization behavior.

Reimplemented in BuoyancyPlugin, HarnessPlugin, FollowerPlugin, PlaneDemoPlugin, MudPlugin, CartDemoPlugin, VehiclePlugin, GimbalSmall2dPlugin, LinearBatteryPlugin, DiffDrivePlugin, and SphereAtlasDemoPlugin.

virtual void Load ( physics::ModelPtr  _model, sdf::ElementPtr  _sdf  )

virtual

Load function.

Called when a Plugin is first created, and after the World has been loaded. This function should not be blocking.

Parameters

[in]	_model	Pointer to the Model
[in]	_sdf	Pointer to the SDF element of the plugin.

Implements ModelPlugin.

virtual void Reset ( )

inlinevirtualinherited

Override this method for custom plugin reset behavior.

Reimplemented in RandomVelocityPlugin, ElevatorPlugin, FollowerPlugin, LinearBatteryPlugin, InitialVelocityPlugin, and SphereAtlasDemoPlugin.

Member Data Documentation

std::string filename

protectedinherited

Path to the shared library file.

std::string handleName

protectedinherited

Short name.

PluginType type

protectedinherited

Type of plugin.

Referenced by ModelPlugin::ModelPlugin().

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

• KeysToJointsPlugin.hh