SimulationPlugins/apis/SmoresJoint_8hh_source.html

 #ifndef _GAZEBO_SMORES_JOINT_HH_

 #define _GAZEBO_SMORES_JOINT_HH_


 #include <gazebo/gazebo.hh>

 #include <gazebo/physics/physics.hh>


 namespace gazebo{

 struct SmoresJoint

 {

     physics::JointPtr jointPtr;

     math::Angle jointAngleNow;

     math::Angle jointAngleDesire;   // This member is unused

     bool needToBeSet;

     double maximiumForce;

     double maximiumRotRate;

     double jointErrorHis;

     double jointErrorAccu;

 };

 }


 #endif

gazebo::SmoresJoint::jointErrorHis
double jointErrorHis
Angle difference between current joint and desired joint, for PID control.
Definition: SmoresJoint.hh:25

gazebo::SmoresJoint::jointAngleNow
math::Angle jointAngleNow
The current joint angle of the joint, for PID control.
Definition: SmoresJoint.hh:15

gazebo::SmoresJoint::maximiumRotRate
double maximiumRotRate
Maximium rotation rate of the current joint, in rad/s.
Definition: SmoresJoint.hh:23

gazebo
gazebo name space
Definition: system_gui.cc:41

gazebo::SmoresJoint::needToBeSet
bool needToBeSet
Whether the angle of the joint needs to be control.
Definition: SmoresJoint.hh:19

gazebo::SmoresJoint::maximiumForce
double maximiumForce
Maximium torque of the current joint.
Definition: SmoresJoint.hh:21

gazebo::SmoresJoint
A struct that has richer features than gazebo joint object.
Definition: SmoresJoint.hh:10

gazebo::SmoresJoint::jointErrorAccu
double jointErrorAccu
Integration of the joint angle error, for PID control.
Definition: SmoresJoint.hh:27

gazebo::SmoresJoint::jointPtr
physics::JointPtr jointPtr
JointPtr object of the joint.
Definition: SmoresJoint.hh:13

gazebo::SmoresJoint::jointAngleDesire
math::Angle jointAngleDesire
The desired angle for the joint, for PID control.
Definition: SmoresJoint.hh:17