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/*
* Copyright (C) 2016 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.
*
*/
#ifndef GAZEBO_PLUGINS_HARNESSPLUGIN_HH_
#define GAZEBO_PLUGINS_HARNESSPLUGIN_HH_
#include <memory>
#include <string>
#include <vector>
#include "gazebo/common/Plugin.hh"
namespace gazebo
{
// Forward declare private data class
class HarnessPluginPrivate;
/// \brief This plugin is designed to lower a model at a controlled rate.
/// Joints between a harness model and a model to lower are created
/// according to SDF provided to this plugin.
///
/// A winch joint and detach joint can be specified. The winch joint,
/// ideally a prismatic joint, has a PID controller. The detach joint,
/// which can be the same joint as the winch joint, is detached on a given
/// signal.
///
/// Three topics are created:
///
/// 1. ~/<plugin_model_name>/harness/velocity
/// - Message Type: GzString, expected to be a float
/// - Purpose: Set target winch velocity
///
/// 2. ~/<plugin_model_name>/harness/detach
/// - Message Type: GzString, expected to be a bool ("true")
/// - Purpose: Detach the <detach> joint.
///
/// 3. ~/<plugin_model_name>/harness/attach
/// - Message Type: Pose, world pose to be set for child link
/// before attaching
/// - Purpose: Attach the joint at the specified world pose
///
/// For an example refer to:
/// - World file: worlds/harness.world
/// - Code: examples/stand_alone/harness
class GAZEBO_VISIBLE HarnessPlugin : public ModelPlugin
{
/// \brief Constructor.
public: HarnessPlugin();
/// \brief Destructor.
public: virtual ~HarnessPlugin();
// Documentation Inherited.
public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
// Documentation Inherited.
public: virtual void Init();
/// \brief Set the target winch velocity
/// \param[in] _value Target winch velocity.
public: void SetWinchVelocity(const float _value);
/// \brief Get the current winch velocity
/// \return Velocity of the winch joint
public: double WinchVelocity() const;
/// \brief Move the child link to the specified pose and recreate the
/// harness joint.
/// \param[in] _pose Desired world pose of child link before harnessing
public: void Attach(const ignition::math::Pose3d &_pose);
/// \brief Detach the <detach> joint. Once the joint is detached, it
/// can be reattached with the Attach method.
public: void Detach();
/// \brief Attach harness joints at current robot pose.
/// \param[in] _model Pointer to parent model.
private: void Attach();
/// \brief Callback for World Update events.
/// \param[in] _info Update information
private: void OnUpdate(const common::UpdateInfo &_info);
/// \brief Velocity control callback.
/// \param[in] _msg Message data, interpreted as a float
private: void OnVelocity(ConstGzStringPtr &_msg);
/// \brief Attach callback.
/// \param[in] _msg Pose where attachment should occur.
private: void OnAttach(ConstPosePtr &_msg);
/// \brief Detach callback.
/// \param[in] _msg Message data, interpreted as a bool
private: void OnDetach(ConstGzStringPtr &_msg);
/// \brief Get the index of a joint with the given name.
/// \param[in] _name Name of the joint to find.
/// \return Index into this->jointsto
private: int JointIndex(const std::string &_name) const;
/// \internal
/// \brief Pointer to private data.
private: std::unique_ptr<HarnessPluginPrivate> dataPtr;
};
}
#endif
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