70 lines
2.0 KiB
C++
70 lines
2.0 KiB
C++
/*
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* Copyright (C) 2014 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_JOINTCONTROLLER_PRIVATE_HH_
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#define _GAZEBO_JOINTCONTROLLER_PRIVATE_HH_
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#include <string>
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#include <map>
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#include "gazebo/transport/TransportTypes.hh"
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#include "gazebo/common/CommonTypes.hh"
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#include "gazebo/common/PID.hh"
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#include "gazebo/physics/PhysicsTypes.hh"
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namespace gazebo
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{
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namespace physics
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{
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class JointControllerPrivate
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{
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/// \brief Model to control.
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public: ModelPtr model;
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/// \brief List of links that have been updated.
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public: Link_V updatedLinks;
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/// \brief Map of joint names to the joint pointer.
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public: std::map<std::string, JointPtr> joints;
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/// \brief Position PID controllers.
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public: std::map<std::string, common::PID> posPids;
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/// \brief Velocity PID controllers.
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public: std::map<std::string, common::PID> velPids;
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/// \brief Forces applied to joints.
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public: std::map<std::string, double> forces;
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/// \brief Joint positions.
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public: std::map<std::string, double> positions;
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/// \brief Joint velocities.
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public: std::map<std::string, double> velocities;
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/// \brief Node for communication.
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public: transport::NodePtr node;
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/// \brief Subscribe to joint command.
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public: transport::SubscriberPtr jointCmdSub;
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/// \brief Last time the controller was updated.
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public: common::Time prevUpdateTime;
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};
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}
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}
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#endif
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