gazebo::ModuleController Class Reference

The modelplugin that actually controls the model and provide low level apis. More...

#include <ModuleController.hh>

Inheritance diagram for gazebo::ModuleController:

Public Member Functions
	ModuleController ()
	Constructor.
	~ModuleController ()
	Destructor.
double	RevolutionSpeedCal (physics::JointPtr joint, const int axis_index)
	Calculates the angular velocity of a revolute joint. More...
math::Pose	GetModelCentralCoor (void)
	Gets the coordinates and direction of the current model. More...
math::Angle	AngleCalculation2Points (math::Vector2d start_point, math::Vector2d end_point)
	Calculates the anlge of the line connected two points in the world frame. More...
double	ComplementaryFilter (double filtering_value, double complement_filter_par, double *value_history)
	Apply a complementary filter a raw sensor value. More...
double	ComplementaryFilter (double filtering_value, double *value_history)
	Applies a complementary filter with a default factor of 0.9. More...
SmoresJoint &	GetJointPlus (int node_ID)
	Returns the SmoresJoint structure according to the node ID. More...
int	GetJointAxis (int node_ID)
	Returns the index of joint axis according to the node ID. More...
math::Angle	GetJointAngle (physics::JointPtr current_joint, int rot_axis)
	Returns the angle of the specified joint. More...

Public Attributes
physics::ModelPtr	model
	Current Model Pointer.
transport::PublisherPtr	collisionInfoToServer
	Publisher of the collision information.
math::Vector3	jointAngleKPID
	Default Joint Angle PID controller parameter. More...
math::Vector3	modelAngleKPID
	Default Joint Angle PID controller parameter. More...
double	maxiRotationRate
	Maximium rotation rate of each joint, unit: rad/s.
double	accelerationRate
	Acceleration rate of the planar motion.
double	planarMotionStopThreshold
	Planar motion control threshold.
double	wheelRadius
	Radius of the wheels.

Detailed Description

The modelplugin that actually controls the model and provide low level apis.

This class is a gazebo modelplugin. All the low level controllers of SMORES robot are defined here.

Member Function Documentation

math::Angle gazebo::ModuleController::AngleCalculation2Points	(	math::Vector2d	start_point,
		math::Vector2d	end_point
	)

Calculates the anlge of the line connected two points in the world frame.

Parameters

start_point	Coordinates of the Start point
end_point	Coordinates of the End point

Returns

Angle between 2 points in rad in the global frame math::Angle object

double gazebo::ModuleController::ComplementaryFilter	(	double	filtering_value,
		double	complement_filter_par,
		double *	value_history
	)

Apply a complementary filter a raw sensor value.

Parameters

filtering_value	The value need to be filtered
complement_filter_par	Complementry filter factor, defined in the following equation: complement_filter_par*value_history + (1 - complement_filter_par) filtering_value
*value_history	The pointer points to the prrior filtering value. /return The filered value

double gazebo::ModuleController::ComplementaryFilter	(	double	filtering_value,
		double *	value_history
	)

Applies a complementary filter with a default factor of 0.9.

Parameters

filtering_value	The value need to be filtered
*value_history	The pointer points to the prrior filtering value. /return The result the filered value

math::Angle gazebo::ModuleController::GetJointAngle	(	physics::JointPtr	current_joint,
		int	rot_axis
	)

Returns the angle of the specified joint.

Parameters

current_joint	Current joint intersted
rot_axis	Axis rotated along

Returns

Joint angle position in a math::Angle object

int gazebo::ModuleController::GetJointAxis

(

int

node_ID

)

Returns the index of joint axis according to the node ID.

Parameters

node_ID

ID of node

Returns

Index of the corresponding axis

SmoresJoint & gazebo::ModuleController::GetJointPlus

(

int

node_ID

)

Returns the SmoresJoint structure according to the node ID.

Parameters

node_ID

ID of node

Returns

Corresponding SmoresJoint object

math::Pose gazebo::ModuleController::GetModelCentralCoor

(

void

)

Gets the coordinates and direction of the current model.

Returns

The global coordinates of the current model, which is a math::Pose object

double gazebo::ModuleController::RevolutionSpeedCal	(	physics::JointPtr	joint,
		const int	axis_index
	)

Calculates the angular velocity of a revolute joint.

Parameters

joint	Joint object pointer whose revolution rate needs to be calculate
axis_index	Index of the axis, for a single joint type, it is always 0

Returns

Joint speed in rad/s

Member Data Documentation

math::Vector3 gazebo::ModuleController::jointAngleKPID

Default Joint Angle PID controller parameter.

First digit is Kp, Second digit is Ki and Third digit is Kd

math::Vector3 gazebo::ModuleController::modelAngleKPID

Default Joint Angle PID controller parameter.

First digit is Kp, Second digit is Ki and Third digit is Kd

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

• ModuleController/ModuleController.hh
• ModuleController/ModuleController.cc