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