Inheritance diagram for gazebo::GazeboModelPluginPerchingArm:

Public Types
enum	Type { POSITION, VELOCITY, EFFORT }

Public Types inherited from ff_util::FreeFlyerNodelet
enum	ResolveType : uint8_t { NAMESPACE = 0, TRANSFORM = 1, RESOURCE = 1 }

Public Member Functions
	GazeboModelPluginPerchingArm ()

	~GazeboModelPluginPerchingArm ()

Public Member Functions inherited from gazebo::FreeFlyerModelPlugin
	FreeFlyerModelPlugin (std::string const &plugin_name, std::string const &plugin_frame, bool send_heartbeats=false)

virtual	~FreeFlyerModelPlugin ()

Public Member Functions inherited from gazebo::FreeFlyerPlugin
	FreeFlyerPlugin (std::string const &plugin_name, std::string const &plugin_frame, bool send_heartbeats=false)

virtual	~FreeFlyerPlugin ()

Public Member Functions inherited from ff_util::FreeFlyerNodelet
	FreeFlyerNodelet (bool autostart_hb_timer=true)

	FreeFlyerNodelet (std::string const &name, bool autostart_hb_timer=true)

virtual	~FreeFlyerNodelet ()

void	AssertFault (FaultKeys enum_key, std::string const &message, ros::Time time_fault_occurred=ros::Time::now())

void	ClearAllFaults ()

void	ClearFault (FaultKeys enum_key)

void	PrintFaults ()

ros::NodeHandle *	GetPlatformHandle (bool multithreaded=false)

ros::NodeHandle *	GetPrivateHandle (bool multithreaded=false)

std::string	GetName ()

std::string	GetPlatform ()

std::string	GetTransform (std::string const &child)

Protected Member Functions
void	LoadCallback (ros::NodeHandle *nh, physics::ModelPtr model, sdf::ElementPtr sdf)

void	Reset ()

double	GetGripperJointState (std::string const &name, Type type)

void	SetGripperJointGoal (std::string const &name, double position)

void	SetGripperGoal (double position)

void	SetGripperJointPosition (std::string const &name, double position)

void	SetGripperPosition (double position)

void	GoalCallback (sensor_msgs::JointState const &msg)

void	TimerCallback (ros::TimerEvent const &event)

bool	SetDistVelCallback (ff_hw_msgs::SetJointMaxVelocity::Request &req, ff_hw_msgs::SetJointMaxVelocity::Response &res)

bool	SetProxVelCallback (ff_hw_msgs::SetJointMaxVelocity::Request &req, ff_hw_msgs::SetJointMaxVelocity::Response &res)

bool	EnableProximalServoCallback (ff_hw_msgs::SetEnabled::Request &req, ff_hw_msgs::SetEnabled::Response &res)

bool	EnableDistalServoCallback (ff_hw_msgs::SetEnabled::Request &req, ff_hw_msgs::SetEnabled::Response &res)

bool	EnableGripperServoCallback (ff_hw_msgs::SetEnabled::Request &req, ff_hw_msgs::SetEnabled::Response &res)

bool	CalibrateGripperCallback (ff_hw_msgs::CalibrateGripper::Request &req, ff_hw_msgs::CalibrateGripper::Response &res)

Protected Member Functions inherited from gazebo::FreeFlyerModelPlugin
virtual void	Load (physics::ModelPtr model, sdf::ElementPtr sdf)

physics::LinkPtr	GetLink ()

physics::WorldPtr	GetWorld ()

physics::ModelPtr	GetModel ()

virtual bool	ExtrinsicsCallback (geometry_msgs::TransformStamped const *tf)

Protected Member Functions inherited from gazebo::FreeFlyerPlugin
void	InitializePlugin (std::string const &robot_name, std::string const &plugin_name)

void	SetParentFrame (std::string const &parent)

std::string	GetFrame (std::string target="", std::string delim="/")

virtual void	OnExtrinsicsReceived (ros::NodeHandle *nh)

void	SetupExtrinsics (const ros::TimerEvent &event)

void	CallbackThread ()

Protected Member Functions inherited from ff_util::FreeFlyerNodelet
virtual void	Initialize (ros::NodeHandle *nh)

virtual void	Sleep ()

virtual void	Wakeup ()

void	StopHeartbeat ()

void	SendDiagnostics (const std::vector< diagnostic_msgs::KeyValue > &keyval)

void	Setup (ros::NodeHandle &nh, ros::NodeHandle &nh_mt, std::string plugin_name)

Static Protected Attributes
static constexpr double	PROXIMAL_DEPLOYED = -1.57079

static constexpr double	PROXIMAL_STOWED = 1.57079

static constexpr double	PROXIMAL_MIN_TILT = -2.09440

static constexpr double	PROXIMAL_MAX_TILT = -1.04718

static constexpr double	DISTAL_DEPLOYED = 0.0

static constexpr double	DISTAL_STOWED = 0.0

static constexpr double	DISTAL_MIN_PAN = -1.57079

static constexpr double	DISTAL_MAX_PAN = 1.57079

static constexpr double	GRIPPER_OPEN = 100.0

static constexpr double	GRIPPER_CLOSED = 0.0

static constexpr double	GRIPPER_OFFSET = 100.0

static constexpr double	RPM_TO_RADS_PER_S = 0.1047198

Additional Inherited Members
Protected Attributes inherited from gazebo::FreeFlyerPlugin
std::string	robot_name_

std::string	plugin_name_

std::string	plugin_frame_

std::string	parent_frame_

ros::NodeHandle	nh_

ros::NodeHandle	nh_ff_

ros::NodeHandle	nh_ff_mt_

std::shared_ptr< tf2_ros::TransformListener >	listener_

ros::CallbackQueue	callback_queue_

std::thread	thread_

ros::Timer	timer_

tf2_ros::Buffer	buffer_

Protected Attributes inherited from ff_util::FreeFlyerNodelet
std::map< std::string, int >	faults_

Member Enumeration Documentation

◆ Type

enum gazebo::GazeboModelPluginPerchingArm::Type

Enumerator
POSITION
VELOCITY
EFFORT

Constructor & Destructor Documentation

◆ GazeboModelPluginPerchingArm()

gazebo::GazeboModelPluginPerchingArm::GazeboModelPluginPerchingArm ( )

inline

◆ ~GazeboModelPluginPerchingArm()

gazebo::GazeboModelPluginPerchingArm::~GazeboModelPluginPerchingArm ( )

inline

Member Function Documentation

◆ CalibrateGripperCallback()

bool gazebo::GazeboModelPluginPerchingArm::CalibrateGripperCallback	(	ff_hw_msgs::CalibrateGripper::Request &	req,
		ff_hw_msgs::CalibrateGripper::Response &	res
	)

inlineprotected

◆ EnableDistalServoCallback()

bool gazebo::GazeboModelPluginPerchingArm::EnableDistalServoCallback	(	ff_hw_msgs::SetEnabled::Request &	req,
		ff_hw_msgs::SetEnabled::Response &	res
	)

inlineprotected

◆ EnableGripperServoCallback()

bool gazebo::GazeboModelPluginPerchingArm::EnableGripperServoCallback	(	ff_hw_msgs::SetEnabled::Request &	req,
		ff_hw_msgs::SetEnabled::Response &	res
	)

inlineprotected

◆ EnableProximalServoCallback()

bool gazebo::GazeboModelPluginPerchingArm::EnableProximalServoCallback	(	ff_hw_msgs::SetEnabled::Request &	req,
		ff_hw_msgs::SetEnabled::Response &	res
	)

inlineprotected

◆ GetGripperJointState()

double gazebo::GazeboModelPluginPerchingArm::GetGripperJointState	(	std::string const &	name,
		Type	type
	)

inlineprotected

◆ GoalCallback()

void gazebo::GazeboModelPluginPerchingArm::GoalCallback ( sensor_msgs::JointState const & msg )

inlineprotected

◆ LoadCallback()

void gazebo::GazeboModelPluginPerchingArm::LoadCallback	(	ros::NodeHandle *	nh,
		physics::ModelPtr	model,
		sdf::ElementPtr	sdf
	)

inlineprotectedvirtual

Implements gazebo::FreeFlyerModelPlugin.

◆ Reset()

void gazebo::GazeboModelPluginPerchingArm::Reset ( )

inlineprotectedvirtual

Reimplemented from ff_util::FreeFlyerNodelet.

◆ SetDistVelCallback()

bool gazebo::GazeboModelPluginPerchingArm::SetDistVelCallback	(	ff_hw_msgs::SetJointMaxVelocity::Request &	req,
		ff_hw_msgs::SetJointMaxVelocity::Response &	res
	)

inlineprotected

◆ SetGripperGoal()

void gazebo::GazeboModelPluginPerchingArm::SetGripperGoal ( double position )

inlineprotected

◆ SetGripperJointGoal()

void gazebo::GazeboModelPluginPerchingArm::SetGripperJointGoal	(	std::string const &	name,
		double	position
	)

inlineprotected

◆ SetGripperJointPosition()

void gazebo::GazeboModelPluginPerchingArm::SetGripperJointPosition	(	std::string const &	name,
		double	position
	)

inlineprotected

◆ SetGripperPosition()

void gazebo::GazeboModelPluginPerchingArm::SetGripperPosition ( double position )

inlineprotected

◆ SetProxVelCallback()

bool gazebo::GazeboModelPluginPerchingArm::SetProxVelCallback	(	ff_hw_msgs::SetJointMaxVelocity::Request &	req,
		ff_hw_msgs::SetJointMaxVelocity::Response &	res
	)

inlineprotected

◆ TimerCallback()

void gazebo::GazeboModelPluginPerchingArm::TimerCallback ( ros::TimerEvent const & event )

inlineprotected

Member Data Documentation

◆ DISTAL_DEPLOYED

constexpr double gazebo::GazeboModelPluginPerchingArm::DISTAL_DEPLOYED = 0.0

staticconstexprprotected

◆ DISTAL_MAX_PAN

constexpr double gazebo::GazeboModelPluginPerchingArm::DISTAL_MAX_PAN = 1.57079

staticconstexprprotected

◆ DISTAL_MIN_PAN

constexpr double gazebo::GazeboModelPluginPerchingArm::DISTAL_MIN_PAN = -1.57079

staticconstexprprotected

◆ DISTAL_STOWED

constexpr double gazebo::GazeboModelPluginPerchingArm::DISTAL_STOWED = 0.0

staticconstexprprotected

◆ GRIPPER_CLOSED

constexpr double gazebo::GazeboModelPluginPerchingArm::GRIPPER_CLOSED = 0.0

staticconstexprprotected

◆ GRIPPER_OFFSET

constexpr double gazebo::GazeboModelPluginPerchingArm::GRIPPER_OFFSET = 100.0

staticconstexprprotected

◆ GRIPPER_OPEN

constexpr double gazebo::GazeboModelPluginPerchingArm::GRIPPER_OPEN = 100.0

staticconstexprprotected

◆ PROXIMAL_DEPLOYED

constexpr double gazebo::GazeboModelPluginPerchingArm::PROXIMAL_DEPLOYED = -1.57079

staticconstexprprotected

◆ PROXIMAL_MAX_TILT

constexpr double gazebo::GazeboModelPluginPerchingArm::PROXIMAL_MAX_TILT = -1.04718

staticconstexprprotected

◆ PROXIMAL_MIN_TILT

constexpr double gazebo::GazeboModelPluginPerchingArm::PROXIMAL_MIN_TILT = -2.09440

staticconstexprprotected

◆ PROXIMAL_STOWED

constexpr double gazebo::GazeboModelPluginPerchingArm::PROXIMAL_STOWED = 1.57079

staticconstexprprotected

◆ RPM_TO_RADS_PER_S

constexpr double gazebo::GazeboModelPluginPerchingArm::RPM_TO_RADS_PER_S = 0.1047198

staticconstexprprotected

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

simulation/src/gazebo_model_plugin_perching_arm/gazebo_model_plugin_perching_arm.cc

Public Types

Public Member Functions

Protected Member Functions

Static Protected Attributes

Additional Inherited Members

Member Enumeration Documentation

◆ Type

Constructor & Destructor Documentation

◆ GazeboModelPluginPerchingArm()

◆ ~GazeboModelPluginPerchingArm()

Member Function Documentation

◆ CalibrateGripperCallback()

◆ EnableDistalServoCallback()

◆ EnableGripperServoCallback()

◆ EnableProximalServoCallback()

◆ GetGripperJointState()

◆ GoalCallback()

◆ LoadCallback()

◆ Reset()

◆ SetDistVelCallback()

◆ SetGripperGoal()

◆ SetGripperJointGoal()

◆ SetGripperJointPosition()

◆ SetGripperPosition()

◆ SetProxVelCallback()

◆ TimerCallback()

Member Data Documentation

◆ DISTAL_DEPLOYED

◆ DISTAL_MAX_PAN

◆ DISTAL_MIN_PAN

◆ DISTAL_STOWED

◆ GRIPPER_CLOSED

◆ GRIPPER_OFFSET

◆ GRIPPER_OPEN

◆ PROXIMAL_DEPLOYED

◆ PROXIMAL_MAX_TILT

◆ PROXIMAL_MIN_TILT

◆ PROXIMAL_STOWED

◆ RPM_TO_RADS_PER_S