pxmlw6n2f/Gazebo_Distributed_TCP/plugins/ActuatorPlugin.hh

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2019-03-28 10:57:49 +08:00
/*
* Copyright (C) 2015 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_ACTUATOR_PLUGIN_
#define _GAZEBO_ACTUATOR_PLUGIN_
#include <vector>
#include <string>
#include <gazebo/common/Events.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/gazebo.hh>
/// Example SDF:
/// <plugin name="actuator_plugin" filename="libActuatorPlugin.so">
/// <actuator>
/// <name>actuator_0</name> <!-- optional -->
/// <joint>JOINT_0</joint> <!-- name of joint to actuate -->
/// <index>0</index> <!-- needed for multi-DOF joints -->
/// <type>electric_motor</type> <!-- motor model type -->
/// <power>20</power> <!-- parameters for motor model -->
/// <max_velocity>6</max_velocity>
/// <max_torque>10.0</max_torque>
/// </actuator>
/// </plugin>
/// </model>
///
/// Required fields:
/// - name
/// - joint
/// - index (can be 0 in most cases)
/// - type: current options are electric_motor, velocity_limiter or null
/// Required for motor model electric_motor:
/// - power
/// - max_velocity
/// - max_torque
/// Required for motor model velocity_limiter:
/// - max_velocity
/// - max_torque
namespace gazebo
{
/// \brief Properties for a model of a rotational actuator
class ActuatorProperties
{
/// \brief An identifier for the actuator.
public: std::string name;
/// \brief Which joint index is actuated by this actuator.
public: int jointIndex;
/// \brief Mechanical power output of the actuator (Watts)
public: float power;
/// \brief Maximum velocity of the actuator (radians per second)
public: float maximumVelocity;
/// \brief Maximum torque of the actuator (Newton-meters)
public: float maximumTorque;
/// \brief Function used to calculate motor output.
/// \param[in] float1 Input velocity.
/// \param[in] float2 Input torque.
/// \param[in] ActuatorProperties Static properties of this actuator
/// \return Torque according to the model.
public: boost::function<float (float, float, const ActuatorProperties&)>
modelFunction;
};
/// \brief Plugin for simulating a torque-speed curve for actuators.
class GAZEBO_VISIBLE ActuatorPlugin : public ModelPlugin
{
/// Documentation inherited
public: void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
/// \brief Callback on world update event.
private: void WorldUpdateCallback();
/// \brief The joints we want to actuate
private: std::vector<physics::JointPtr> joints;
/// \brief Corresponding actuator properties (power, max torque, etc.)
private: std::vector<ActuatorProperties> actuators;
/// \brief Connections to events associated with this class.
private: std::vector<event::ConnectionPtr> connections;
};
// Register this plugin with the simulator
GZ_REGISTER_MODEL_PLUGIN(ActuatorPlugin)
}
#endif