17 #ifndef _GAZEBO_JOINTCONTROLLER_HH_ 18 #define _GAZEBO_JOINTCONTROLLER_HH_ 36 class JointControllerPrivate;
54 public:
void AddJoint(
JointPtr _joint);
58 public:
void RemoveJoint(
Joint *_joint);
61 public:
void Update();
68 public:
void SetJointPosition(
69 const std::string &_name,
double _position,
int _index = 0);
73 public:
void SetJointPositions(
74 const std::map<std::string, double> &_jointPositions);
83 public: std::map<std::string, JointPtr> GetJoints()
const;
88 public:
void SetPositionPID(
const std::string &_jointName,
95 public:
bool SetPositionTarget(
const std::string &_jointName,
101 public:
void SetVelocityPID(
const std::string &_jointName,
108 public:
bool SetVelocityTarget(
const std::string &_jointName,
114 public: std::map<std::string, common::PID> GetPositionPIDs()
const;
119 public: std::map<std::string, common::PID> GetVelocityPIDs()
const;
124 public: std::map<std::string, double> GetForces()
const;
129 public: std::map<std::string, double> GetPositions()
const;
134 public: std::map<std::string, double> GetVelocities()
const;
138 private:
void OnJointCmd(ConstJointCmdPtr &_msg);
157 public:
void SetJointPosition(
158 JointPtr _joint,
double _position,
int _index = 0);
161 private: JointControllerPrivate *dataPtr;
Forward declarations for the common classes.
Definition: Animation.hh:33
Forward declarations for transport.
A class for manipulating physics::Joint.
Definition: JointController.hh:43
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:117
default namespace for gazebo
Base class for all joints.
Definition: Joint.hh:53
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
Generic PID controller class.
Definition: PID.hh:36
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:44