gazebo::WorldController Class Reference

#include <WorldController.hh>

Inheritance diagram for gazebo::WorldController:

Public Member Functions
	WorldController ()
	Constructor.
	~WorldController ()
	Destructor.
virtual void	ExtraInitializationInLoad (physics::WorldPtr _parent, sdf::ElementPtr _sdf)
	This function will perform extra initialization. More...
virtual void	ExtraWorkWhenModelInserted (CommandMessagePtr &msg)
	This function will be called after all the models inserted. More...
Public Member Functions inherited from gazebo::WorldServer
LibraryTemplate *	DynamicallyLoadedLibrary (const char *library_path, void *lib_handle)
	Load a shared library in linux.
void	CloseLoadedLibrary (void **lib_handle)
	Close the loaded libraries.
virtual void	OnSystemRunningExtra (const common::UpdateInfo &_info)
virtual void	InsertModel (string name, math::Pose position, string joint_angles)
	Insert a model to the current world. More...
virtual void	InsertModel (string name, math::Pose position, string joint_angles, string model_path)
	Insert a model to the current world. More...
void	AddInitialPosition (math::Pose position)
	Add a new position to set at the end of 'intialPosition' vector.
void	AddInitialJoints (string joint_angles)
	Add new initial joint values to set at the end of 'initalJointValue' vector.
void	DeleteSmoresmodulePtr (string module_name)
	Delete the smoresmodule object in the world. More...
void	DeleteModule (string module_name)
	Delete a model that already in the world. More...
void	DeleteAllModules (void)
	Delete all models that already in the world.
math::Vector3	GetCurrentConfigurationPose (void)
	Get the current position in world of the inserted configuration. More...
void	BuildConfigurationFromXML (string file_name)
	Build a configuration at origin using a XML file.
void	BuildConfigurationFromXML (string file_name, math::Vector3 initial_pose)
	Build a configuration at given initial_pose using a XML file.
void	BuildConnectionFromXML (string file_name)
	This function is used to build connection using a XML file.
double	ConversionForAngleOverPi (double angle)
	Convert angles so that their absolutely value always smaller than Pi.
void	EnableAutoMagneticConnection (void)
void	PassiveConnect (SmoresModulePtr module_1, SmoresModulePtr module_2, int node1_ID, int node2_ID, double node_angle, double node_distance)
	Connect two modules by pointers and node_ID.
void	PassiveConnect (SmoresModulePtr module_1, SmoresModulePtr module_2, int node1_ID, int node2_ID)
	With default angle and distance offset equal to 0.
void	ActiveConnect (SmoresModulePtr module_1, SmoresModulePtr module_2, int node1_ID, int node2_ID, double node_angle, double node_distance)
	TODO: Need add 'active' feature to this function.
void	ActiveConnect (SmoresModulePtr module_1, SmoresModulePtr module_2, int node1_ID, int node2_ID)
	With default angle and distance offset equal to 0.
void	Disconnect (SmoresEdgePtr aEdge)
void	Disconnect (SmoresModulePtr aModule, int node_ID)
	Disconnect two module base on one module and one node of that module.
void	Disconnect (string moduleName, int node_ID)
	Disconnect two module base on one module and one node of that module.
void	Disconnect (string moduleName1, string moduleName2)
	Disconnect two module base on their names.
void	SendGaitTable (SmoresModulePtr module, const int *flag, const double *gait_value, int msg_type, unsigned int time_stamp, string condition_str, string dependency_str)
	Send time based common gait with condition and dependency. More...
void	SendGaitTable (SmoresModulePtr module, const int *flag, const double *gait_value, int msg_type, unsigned int time_stamp)
	Send time based common gait without condition and dependency. More...
void	SendGaitTable (SmoresModulePtr module, const int *flag, const double *gait_value, int msg_type, string condition_str, string dependency_str)
	Send common gait with condition and dependency. More...
void	SendGaitTable (SmoresModulePtr module, const int *flag, const double *gait_value, int msg_type)
	Send common gait without condition and dependency. More...
void	SendGaitTable (SmoresModulePtr module, int joint_ID, double gait_value, int msg_type, unsigned int time_stamp, string condition_str, string dependency_str)
	Send gait table to change a single joint of a module. More...
void	SendGaitTable (SmoresModulePtr module, int joint_ID, double gait_value, int msg_type, unsigned int time_stamp)
	Send gait table to change a single joint of a module. More...
void	SendGaitTable (SmoresModulePtr module, int joint_ID, double gait_value, int msg_type, string condition_str, string dependency_str)
	Send gait table to change a single joint of a module. More...
void	SendGaitTable (SmoresModulePtr module, int joint_ID, double gait_value, int msg_type)
	Send gait table to change a single joint of a module. More...
void	SendGaitTable (SmoresModulePtr module, string module1, string module2, int node1, int node2, int commandtype, unsigned int time_stamp, string condition_str, string dependency_str)
void	SendGaitTable (SmoresModulePtr module, string module1, string module2, int node1, int node2, int commandtype, unsigned int time_stamp)
void	SendGaitTable (SmoresModulePtr module, string module1, string module2, int node1, int node2, int commandtype, string condition_str, string dependency_str)
void	SendGaitTable (SmoresModulePtr module, string module1, string module2, int node1, int node2, int commandtype)
void	SendGaitTableInstance (SmoresModulePtr module, const int *flag, const double *gait_value, int msg_type)
	Used in the direct driving situation, ignore execution order. More...
void	SendGaitTableInstance (SmoresModulePtr module, const int *flag, const double *gait_value)
	Used in the direct driving situation with default type 4. More...
void	SendPositionInstance (SmoresModulePtr module, double x, double y, double orientation_angle)
	Used in direct control, dirve a module to a specific position. More...
void	EraseComaands (SmoresModulePtr module)
void	DynamicJointDestroy (SmoresEdgePtr aEdge)
void	ReBuildDynamicJoint (SmoresEdgePtr a_edge)
	Rebuild the dynamic joint using the information in the edge object.
int	GetNodeIDByName (string node_name)
bool	CheckModuleExistByName (string module_name)
	Get return true if the smores module with given name exist in the world.
SmoresModulePtr	GetModulePtrByName (string module_name)
	Get SmoresModule object by specifying the name. More...
SmoresModulePtr	GetModulePtrByIDX (unsigned int idx)
	Get SmoresModule object by specifying the index in the vector moduleList.
unsigned int	GetModuleListSize (void)
	Get the count of the modules that are in the list.
void	EraseCommandPtrByModule (SmoresModulePtr module_ptr)
int	GetModuleIndexByName (string module_name)
bool	AlreadyConnected (SmoresModulePtr module_1, SmoresModulePtr module_2, int node1_ID, int node2_ID)
	Check whether two nodes are connected together.
bool	AlreadyConnected (SmoresModulePtr module_1, SmoresModulePtr module_2)
	Check whether two modules have already connected on a node.
bool	AlreadyConnected (SmoresModulePtr module, int node_ID)
	Check whether a node a of module has been occupied.
void	ReadFileAndGenerateCommands (const char *fileName)
	Read a 'gait table' stored in a text file.
void	FigureInterpret (const vector< string > *joints_spec, int *type_flags, double *joint_values)
	Used to interpret the number in gait table. More...
void	InterpretCommonGaitString (string a_command_str)
	Interpret normal command string. More...
void	InterpretSpecialString (string a_command_str)
	Interpret special command. More...
unsigned int	CountModules (SmoresModulePtr module)
	Count how many modules are there in a cluster with the current module. More...
unsigned int	GetInitialJointSequenceSize (void)
	Get the length of the initial joint value setting sequence.
unsigned int	GetEdgeCounts (void)
	Get the total counts of the edges that stored in the program.
SmoresEdgePtr	GetEdgePtrByIDX (unsigned int idx)
	Get SmoresEdge object by specifying the index in the vector connectionEdges.

Additional Inherited Members
Public Attributes inherited from gazebo::WorldServer
physics::WorldPtr	currentWorld

Detailed Description

Acts as the controller for normal simulation Class which inherits WorldServer template

Member Function Documentation

void gazebo::WorldController::ExtraInitializationInLoad ( physics::WorldPtr  _parent, sdf::ElementPtr  _sdf  )

virtual

This function will perform extra initialization.

Need to read in initial configuration here

Parameters

_parent	WorldPtr object from parent class
_sdf	ElementPtr object from parent class

Reimplemented from gazebo::WorldServer.

void gazebo::WorldController::ExtraWorkWhenModelInserted ( CommandMessagePtr &  msg )

virtual

This function will be called after all the models inserted.

Need to read in initial Gait table here

Parameters

msg	A reference of the CommandMessagePtr object

Reimplemented from gazebo::WorldServer.

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

• WorldController/WorldController.hh
• WorldController/WorldController.cc