gazebo::ElevatorPluginPrivate::LiftController Class Reference

Controller for raising and lowering the elevator. More...

#include <ElevatorPluginPrivate.hh>

Public Types
enum	State { MOVING, STATIONARY }
	Lift state. More...

Public Member Functions
	LiftController (physics::JointPtr _liftJoint, float _floorHeight)
	Constructor. More...
virtual	~LiftController ()=default
	Destructor. More...
int	GetFloor () const
	Get the current floor. More...
ElevatorPluginPrivate::LiftController::State	GetState () const
	Get the current state. More...
void	Reset ()
	Reset the controller. More...
void	SetFloor (int _floor)
	Set the current floor to move to. More...
virtual bool	Update (const common::UpdateInfo &_info)
	Update the controller. More...

Public Attributes
int	floor
	Floor the elevator is on or moving to. More...
float	floorHeight
	Height of each floor. More...
physics::JointPtr	liftJoint
	Joint to control. More...
common::PID	liftPID
	PID controller. More...
common::Time	prevSimTime
	Previous simulation time. More...
State	state
	State of the controller. More...

Detailed Description

Controller for raising and lowering the elevator.

Member Enumeration Documentation

enum gazebo::ElevatorPluginPrivate::LiftController::State

Lift state.

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

Constructor & Destructor Documentation

gazebo::ElevatorPluginPrivate::LiftController::LiftController	(	physics::JointPtr	_liftJoint,
		float	_floorHeight
	)

Constructor.

Parameters

[in]	_liftJoint	Pointer to the joint that should be controlled.
[in]	_floorHeight	Height of each floor.

virtual gazebo::ElevatorPluginPrivate::LiftController::~LiftController ( )

virtualdefault

Destructor.

Member Function Documentation

int gazebo::ElevatorPluginPrivate::LiftController::GetFloor

(

)

const

Get the current floor.

Returns

Floor number

ElevatorPluginPrivate::LiftController::State gazebo::ElevatorPluginPrivate::LiftController::GetState

(

)

const

Get the current state.

Returns

Current lift state.

void gazebo::ElevatorPluginPrivate::LiftController::Reset

(

)

Reset the controller.

void gazebo::ElevatorPluginPrivate::LiftController::SetFloor

(

int

_floor

)

Set the current floor to move to.

Parameters

[in]

_floor

Floor number.

virtual bool gazebo::ElevatorPluginPrivate::LiftController::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

int gazebo::ElevatorPluginPrivate::LiftController::floor

Floor the elevator is on or moving to.

float gazebo::ElevatorPluginPrivate::LiftController::floorHeight

Height of each floor.

physics::JointPtr gazebo::ElevatorPluginPrivate::LiftController::liftJoint

Joint to control.

common::PID gazebo::ElevatorPluginPrivate::LiftController::liftPID

PID controller.

common::Time gazebo::ElevatorPluginPrivate::LiftController::prevSimTime

Previous simulation time.

State gazebo::ElevatorPluginPrivate::LiftController::state

State of the controller.

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

• ElevatorPluginPrivate.hh