17 #ifndef _GAZEBO_JOINTCONTROLLER_HH_
18 #define _GAZEBO_JOINTCONTROLLER_HH_
36 class JointControllerPrivate;
54 public:
void AddJoint(
JointPtr _joint);
57 public:
void Update();
66 public:
void SetJointPosition(
67 const std::string &_name,
double _position,
int _index = 0);
73 public:
void SetJointPositions(
74 const std::map<std::string, double> &_jointPositions);
83 public: std::map<std::string, JointPtr> GetJoints()
const;
89 public:
bool SetPositionTarget(
const std::string &_jointName,
96 public:
bool SetVelocityTarget(
const std::string &_jointName,
102 public: std::map<std::string, common::PID> GetPositionPIDs()
const;
107 public: std::map<std::string, common::PID> GetVelocityPIDs()
const;
112 public: std::map<std::string, double> GetForces()
const;
117 public: std::map<std::string, double> GetPositions()
const;
122 public: std::map<std::string, double> GetVelocities()
const;
126 private:
void OnJointCmd(ConstJointCmdPtr &_msg);
147 public:
void SetJointPosition(
148 JointPtr _joint,
double _position,
int _index = 0);
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:81
Forward declarations for the common classes.
Definition: Animation.hh:24
Forward declarations for transport.
A class for manipulating physics::Joint.
Definition: JointController.hh:43
default namespace for gazebo
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:97
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48
Definition: JointControllerPrivate.hh:32
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:43