SkidSteerDrivePlugin Class Reference

A gazebo model plugin that controls a four wheel skid-steer robot via a gazebo topic. More...

#include <SkidSteerDrivePlugin.hh>

Inherits ModelPlugin.

Public Types
enum	{ RIGHT_FRONT, RIGHT_REAR, LEFT_FRONT, LEFT_REAR }
typedef boost::shared_ptr < ModelPlugin >	TPtr
	plugin pointer type definition More...

Public Member Functions
	SkidSteerDrivePlugin ()
	Default Contstuctor. 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...
void	Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
	Called when the plugin is loaded. 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

A gazebo model plugin that controls a four wheel skid-steer robot via a gazebo topic.

See the Pioneer3AT model in the OSRF model database for an example use case.

Member Typedef Documentation

typedef boost::shared_ptr<ModelPlugin > TPtr

inherited

plugin pointer type definition

Member Enumeration Documentation

anonymous enum

Enumerator
RIGHT_FRONT
RIGHT_REAR
LEFT_FRONT
LEFT_REAR

Constructor & Destructor Documentation

SkidSteerDrivePlugin

(

)

Default Contstuctor.

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.

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

virtual

Called when the plugin is loaded.

Parameters

[in]	_model	Pointer to the model for which the plugin is loaded
[in]	_sdf	Pointer to the SDF for _model

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:

• SkidSteerDrivePlugin.hh