A class for manipulating physics::Joint.
More...
#include <physics/physics.hh>
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| JointController (ModelPtr _model) |
| Constructor. More...
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virtual | ~JointController () |
| Destructor. More...
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void | AddJoint (JointPtr _joint) |
| Add a joint to control. More...
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std::map< std::string, double > | GetForces () const |
| Get all the applied forces. More...
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std::map< std::string, JointPtr > | GetJoints () const |
| Get all the joints. More...
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common::Time | GetLastUpdateTime () const |
| Get the last time the controller was updated. More...
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std::map< std::string, common::PID > | GetPositionPIDs () const |
| Get all the position PID controllers. More...
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std::map< std::string, double > | GetPositions () const |
| Get all the position PID set points. More...
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std::map< std::string, double > | GetVelocities () const |
| Get all the velocity PID set points. More...
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std::map< std::string, common::PID > | GetVelocityPIDs () const |
| Get all the velocity PID controllers. More...
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void | Reset () |
| Reset all commands. More...
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void | SetJointPosition (const std::string &_name, double _position, int _index=0) |
| Set the positions of a Joint by name. More...
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void | SetJointPosition (JointPtr _joint, double _position, int _index=0) |
| Set the positions of a Joint by name The position is specified in native units, which means, if you are using metric system, it's meters for SliderJoint and radians for HingeJoint, etc. More...
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void | SetJointPositions (const std::map< std::string, double > &_jointPositions) |
| Set the positions of a set of Joint's. More...
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bool | SetPositionTarget (const std::string &_jointName, double _target) |
| Set the target position for the position PID controller. More...
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bool | SetVelocityTarget (const std::string &_jointName, double _target) |
| Set the target velocity for the velocity PID controller. More...
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void | Update () |
| Update the joint control. More...
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A class for manipulating physics::Joint.
gazebo::physics::JointController::JointController |
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ModelPtr |
_model | ) |
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explicit |
Constructor.
- Parameters
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[in] | _model | Model that uses this joint controller. |
virtual gazebo::physics::JointController::~JointController |
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virtual |
void gazebo::physics::JointController::AddJoint |
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JointPtr |
_joint | ) |
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Add a joint to control.
- Parameters
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[in] | _joint | Joint to control. |
std::map<std::string, double> gazebo::physics::JointController::GetForces |
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const |
Get all the applied forces.
- Returns
- A map<joint_name, force> that contains force values set by the user of the JointController.
std::map<std::string, JointPtr> gazebo::physics::JointController::GetJoints |
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const |
Get all the joints.
- Returns
- A map<joint_name, joint_ptr> to all the joints that can be controlled.
common::Time gazebo::physics::JointController::GetLastUpdateTime |
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const |
Get the last time the controller was updated.
- Returns
- Last time the controller was updated.
std::map<std::string, common::PID> gazebo::physics::JointController::GetPositionPIDs |
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const |
Get all the position PID controllers.
- Returns
- A map<joint_name, PID> for all the position PID controllers.
std::map<std::string, double> gazebo::physics::JointController::GetPositions |
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const |
Get all the position PID set points.
- Returns
- A map<joint_name, position> that contains position values set by the user of the JointController.
std::map<std::string, double> gazebo::physics::JointController::GetVelocities |
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const |
Get all the velocity PID set points.
- Returns
- A map<joint_name, position> that contains velocity values set by the user of the JointController.
std::map<std::string, common::PID> gazebo::physics::JointController::GetVelocityPIDs |
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const |
Get all the velocity PID controllers.
- Returns
- A map<joint_name, PID> for all the velocity PID controllers.
void gazebo::physics::JointController::Reset |
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void gazebo::physics::JointController::SetJointPosition |
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const std::string & |
_name, |
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double |
_position, |
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int |
_index = 0 |
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Set the positions of a Joint by name.
Warning: This function is disabled since collisions are not updated correctly. See issue #1138
- See also
- JointController::SetJointPosition(JointPtr, double)
void gazebo::physics::JointController::SetJointPosition |
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JointPtr |
_joint, |
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double |
_position, |
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int |
_index = 0 |
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Set the positions of a Joint by name The position is specified in native units, which means, if you are using metric system, it's meters for SliderJoint and radians for HingeJoint, etc.
Implementation: In order to change the position of a Joint inside a Model, this call must recursively crawl through all the connected children Link's in this Model, and update each Link Pose affected by this Joint angle update. Warning: There is no constraint satisfaction being done here, traversal through the kinematic graph has unexpected behavior if you try to set the joint position of a link inside a loop structure. Warning: This function is disabled since collisions are not updated correctly. See issue #1138
- Parameters
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[in] | _joint | Joint to set. |
[in] | _position | Position of the joint. |
void gazebo::physics::JointController::SetJointPositions |
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const std::map< std::string, double > & |
_jointPositions | ) |
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Set the positions of a set of Joint's.
Warning: This function is disabled since collisions are not updated correctly. See issue #1138
- See also
- JointController::SetJointPosition(JointPtr, double)
bool gazebo::physics::JointController::SetPositionTarget |
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const std::string & |
_jointName, |
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double |
_target |
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Set the target position for the position PID controller.
- Parameters
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[in] | _jointName | Scoped name of the joint. |
[in] | _target | Position target. |
- Returns
- False if the joint was not found.
bool gazebo::physics::JointController::SetVelocityTarget |
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const std::string & |
_jointName, |
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double |
_target |
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Set the target velocity for the velocity PID controller.
- Parameters
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[in] | _jointName | Scoped name of the joint. |
[in] | _target | Velocity target. |
- Returns
- False if the joint was not found.
void gazebo::physics::JointController::Update |
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Update the joint control.
The documentation for this class was generated from the following file: