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/*
* Copyright (C) 2012 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include "gazebo/physics/physics.hh"
#include "plugins/SpringTestPlugin.hh"
using namespace gazebo;
GZ_REGISTER_MODEL_PLUGIN(SpringTestPlugin)
/////////////////////////////////////////////////
SpringTestPlugin::SpringTestPlugin()
{
}
/////////////////////////////////////////////////
void SpringTestPlugin::Load(physics::ModelPtr _model,
sdf::ElementPtr _sdf)
{
this->model = _model;
// hardcoded params for this test
this->jointExplicitName = _sdf->Get<std::string>("joint_explicit");
this->kpExplicit = _sdf->Get<double>("kp_explicit");
this->kdExplicit = _sdf->Get<double>("kd_explicit");
this->jointImplicitName = _sdf->Get<std::string>("joint_implicit");
this->kpImplicit = _sdf->Get<double>("kp_implicit");
this->kdImplicit = _sdf->Get<double>("kd_implicit");
}
/////////////////////////////////////////////////
void SpringTestPlugin::Init()
{
this->jointImplicit = this->model->GetJoint(this->jointImplicitName);
this->jointExplicit = this->model->GetJoint(this->jointExplicitName);
this->jointImplicit->SetStiffnessDamping(0, this->kpImplicit,
this->kdImplicit);
this->updateConnection = event::Events::ConnectWorldUpdateBegin(
boost::bind(&SpringTestPlugin::ExplicitUpdate, this));
}
/////////////////////////////////////////////////
void SpringTestPlugin::ExplicitUpdate()
{
common::Time currTime = this->model->GetWorld()->SimTime();
common::Time stepTime = currTime - this->prevUpdateTime;
this->prevUpdateTime = currTime;
double pos = this->jointExplicit->Position(0);
double vel = this->jointExplicit->GetVelocity(0);
double force = -this->kpExplicit * pos
-this->kdExplicit * vel;
this->jointExplicit->SetForce(0, force);
}
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