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