gazebo::SmoresModule Class Reference

A class used to store a cluster of nodes which has rigid connectivity. More...

#include <SmoresModule.hh>

Public Member Functions
	SmoresModule (string mID, bool mtype, physics::ModelPtr modulePtr, transport::PublisherPtr publisher, transport::SubscriberPtr subsciber, unsigned int num_ID)
	Constructor. More...
	SmoresModule (string mID, bool mtype, physics::ModelPtr modulePtr, transport::PublisherPtr publisher, transport::SubscriberPtr subsciber)
	Constructor. More...
	SmoresModule (string mID, bool mtype, transport::PublisherPtr publisher, transport::SubscriberPtr subsciber, unsigned int num_ID)
	Constructor. More...
	~SmoresModule ()
	Destructor.
void	ManuallyNodeInitial (SmoresModulePtr module_ptr)
	Manually pass the pointer to the current object to its nodes. More...
SmoresNodePtr	GetNode (int node_id)
	Get the pointer to the node by node ID. More...
int	GetNodeAxis (int node_id)
	Get node axis id, the axis is perpendicular to the connected face. More...
void	SetModulePtr (physics::ModelPtr modelPtr)
	Pass the pointer to the gazebo model object to current object. More...
physics::LinkPtr	GetLinkPtr (int node_id)
	Get the pointer to the gazebo Link object. More...

Public Attributes
string	ModuleID
	Unique name for the current module.
unsigned int	ModuleNumID
	Position in the vector.
bool	ModuleType
	Active module or Passive Module, true for active.
physics::ModelPtr	ModuleObject
	A pointer of the gazebo model object for fast access.
transport::PublisherPtr	ModulePublisher
	Pointer to the command publisher.
transport::SubscriberPtr	ModuleSubscriber
	Pointer to the command subscriber.
ModuleCommandsPtr	moduleCommandContainer
	Poointer to the command management object of current module.
math::Pose	ModulePosition
	Position of the current module [Not implemented].
SmoresNode	NodeUH
	Node of the part that has the square face [redundant].
SmoresNode	NodeFW
	Node of the front wheel [redundant].
SmoresNode	NodeLW
	Node of the left wheel [redundant].
SmoresNode	NodeRW
	Node of the right wheel [redundant].
SmoresNodePtr	NodeUHPtr
	Smart pointer of the node of the part that has the square face.
SmoresNodePtr	NodeFWPtr
	Smart pointer of the node of the front wheel.
SmoresNodePtr	NodeLWPtr
	Smart pointer of the node of the left wheel.
SmoresNodePtr	NodeRWPtr
	Smart pointer of the node of the right wheel.

Detailed Description

A class used to store a cluster of nodes which has rigid connectivity.

This is part of the graph representation of configuration that used in multiple research in modlab.

Constructor & Destructor Documentation

gazebo::SmoresModule::SmoresModule	(	string	mID,
		bool	mtype,
		physics::ModelPtr	modulePtr,
		transport::PublisherPtr	publisher,
		transport::SubscriberPtr	subsciber,
		unsigned int	num_ID
	)

Constructor.

Parameters

mID	String ID of the module
mtype	Type of the module, true for active module and false for passive
modulePtr	smart pointer to the gazebo model object
publisher	Command publisher of the managed model
subsciber	Command subscriber of the managed model
num_ID	Position in the management vector

gazebo::SmoresModule::SmoresModule	(	string	mID,
		bool	mtype,
		physics::ModelPtr	modulePtr,
		transport::PublisherPtr	publisher,
		transport::SubscriberPtr	subsciber
	)

Constructor.

Parameters

mID	String ID of the module
mtype	Type of the module, true for active module and false for passive
modulePtr	smart pointer to the gazebo model object
publisher	Command publisher of the managed model
subsciber	Command subscriber of the managed model

gazebo::SmoresModule::SmoresModule	(	string	mID,
		bool	mtype,
		transport::PublisherPtr	publisher,
		transport::SubscriberPtr	subsciber,
		unsigned int	num_ID
	)

Constructor.

Parameters

mID	String ID of the module
mtype	Type of the module, true for active module and false for passive
publisher	Command publisher of the managed model
subsciber	Command subscriber of the managed model
num_ID	Position in the management vector

Member Function Documentation

physics::LinkPtr gazebo::SmoresModule::GetLinkPtr

(

int

node_id

)

Get the pointer to the gazebo Link object.

Parameters

node_id

Number ID of node, see GetNode()

Returns

Smart pointer to the gazebo Link object

SmoresNodePtr gazebo::SmoresModule::GetNode

(

int

node_id

)

Get the pointer to the node by node ID.

Parameters

node_id

Number id of node, 0 for front 1 for left 2 for right 3 for square

Returns

A smart pointer of the node object

int gazebo::SmoresModule::GetNodeAxis

(

int

node_id

)

Get node axis id, the axis is perpendicular to the connected face.

Parameters

node_id

Number id of node, see GetNode()

Returns

A number indicate the axis in the face local frame

void gazebo::SmoresModule::ManuallyNodeInitial

(

SmoresModulePtr

module_ptr

)

Manually pass the pointer to the current object to its nodes.

TODO: Need to find a more elegent way.

Parameters

module_ptr

The smart pointer of the current SmoresModule object

void gazebo::SmoresModule::SetModulePtr

(

physics::ModelPtr

modelPtr

)

Pass the pointer to the gazebo model object to current object.

Parameters

modelPtr

Smart pointer to gazebo Model object

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

• WorldPlugin/SmoresModule.hh
• WorldPlugin/SmoresModule.cc