136 lines
4.3 KiB
C++
136 lines
4.3 KiB
C++
/*
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* Copyright (C) 2015 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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#ifndef _GAZEBO_PLUGINS_EVENTS_JOINTEVENTSOURCE_HH_
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#define _GAZEBO_PLUGINS_EVENTS_JOINTEVENTSOURCE_HH_
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#include <string>
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#include "plugins/events/EventSource.hh"
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namespace gazebo
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{
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/// \brief The event generator class. Events are generated when joint enters
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/// or leaves a certain trigger state. This type of event works with joints
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/// that have a single axis (revolute or prismatic). These are the most
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/// common for actuated joints.
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/// Triggers must be defined in the world, but models can be created during
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/// the simulation. Triggers cannot overlap.
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///
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///
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/// \verbatim
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///
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/// This is an example joint event. It is triggered when the joint named
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/// "joint" in the model "revoluter" has an angle value that enters or
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/// leaves the range [3, 3.1416]. Triggers can also depend on the position,
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/// velocity or applied force.
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///
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/// <event>
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/// <name>joint_angle</name>
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/// <type>joint</type>
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/// <model>revoluter</model>
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/// <joint>joint</joint>
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/// <range>
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/// <type>normalized_angle</type>
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/// <min>3</min>
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/// <max>3.1416</max>
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/// </range>
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/// </event>
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///
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/// \endverbatim
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class JointEventSource: public EventSource
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{
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/// \enum Range
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/// \brief The type of data range measured
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public: enum Range {
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/// \brief Absolute position (or angle, for revolute joints)
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POSITION,
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/// \brief Normalized angle (between -PI and PI)
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ANGLE,
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/// \brief Velocity or angular velocity
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VELOCITY,
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/// \brief Applied force (or torque, for revolute joints)
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FORCE,
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/// \brief invalid
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INVALID
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};
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/// \brief Constructor
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/// \param[in] _pub the publisher for the SimEvents
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/// \param[in] _world Pointer to the world.
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public: JointEventSource(transport::PublisherPtr _pub,
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physics::WorldPtr _world);
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/// \brief Initialize the event
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public: virtual void Init();
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/// \brief Called every simulation step
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public: void Update();
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/// \brief Prints data about the event source to the log (useful for debug)
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public: void Info() const;
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/// \brief Loads the full name of the model and the triggers from the world
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/// file.
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/// \param[in] _sdf The root sdf element for this joint event
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public: virtual void Load(const sdf::ElementPtr _sdf);
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/// \brief Looks for the model and the joint
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/// \return true if found
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private: bool LookupJoint();
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/// \brief Utility range to string conversion
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/// returns The current range as a string
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private: std::string RangeAsString() const;
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/// \brief Sets the range type from a string
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/// \param[in] _rangeStr the range. Possible values are: "velocity",
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/// "position", "normalized_angle" or "applied_force"
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private: void SetRangeFromString(const std::string &_rangeStr);
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/// \brief Pointer to the update event connection
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private: event::ConnectionPtr updateConnection;
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/// \brief The model used for the in trigger check.
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private: std::string modelName;
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/// \brief The joint name
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private: std::string jointName;
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/// \brief A pointer to the model
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private: physics::ModelPtr model;
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/// \brief A pointer to the Joint
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private: physics::JointPtr joint;
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/// \brief Minimum joint value (the type is determined by range member)
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private: double min;
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/// \brief Maximum joint value
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private: double max;
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/// \brief The type of data in the range (see Range enum)
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private: Range range;
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/// \brief True when the joint is currently inside the trigger condition
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private: bool isTriggered;
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};
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}
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#endif
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