MujocoRosUtils::ActuatorCommand Class Reference

Plugin to send a command to an actuator via ROS topic. More...

#include <ActuatorCommand.h>

Public Member Functions
	ActuatorCommand (ActuatorCommand &&)=default
	Copy constructor. More...
void	reset (const mjModel *m, int plugin_id)
	Reset. More...
void	compute (const mjModel *m, mjData *d, int plugin_id)
	Compute. More...

Static Public Member Functions
static void	RegisterPlugin ()
	Register plugin. More...
static ActuatorCommand *	Create (const mjModel *m, mjData *d, int plugin_id)
	Create an instance. More...

Protected Member Functions
	ActuatorCommand (const mjModel *m, mjData *d, int actuator_id, std::string topic_name)
	Constructor. More...
void	callback (const std_msgs::msg::Float64::SharedPtr msg)
	Constructor. More...

Protected Attributes
int	actuator_id_ = -1
	Actuator ID. More...
mjtNum	ctrl_ = std::numeric_limits<mjtNum>::quiet_NaN()
	Actuator command (NaN for no command) More...
rclcpp::Node::SharedPtr	nh_
rclcpp::executors::SingleThreadedExecutor::SharedPtr	executor_
rclcpp::Subscription< std_msgs::msg::Float64 >::SharedPtr	sub_

Detailed Description

Plugin to send a command to an actuator via ROS topic.

Definition at line 18 of file ActuatorCommand.h.

Constructor & Destructor Documentation

ActuatorCommand() [1/2]

MujocoRosUtils::ActuatorCommand::ActuatorCommand ( ActuatorCommand &&  )

default

Copy constructor.

ActuatorCommand() [2/2]

MujocoRosUtils::ActuatorCommand::ActuatorCommand ( const mjModel *  m, mjData *  d, int  actuator_id, std::string  topic_name  )

protected

Constructor.

Parameters

m	model
d	data
actuator_id	actuator ID
topic_name	topic name

Definition at line 106 of file ActuatorCommand.cpp.

Member Function Documentation

callback()

void MujocoRosUtils::ActuatorCommand::callback ( const std_msgs::msg::Float64::SharedPtr  msg )

protected

Constructor.

Parameters

msg	command message

Definition at line 156 of file ActuatorCommand.cpp.

compute()

void MujocoRosUtils::ActuatorCommand::compute	(	const mjModel *	m,
		mjData *	d,
		int	plugin_id
	)

Compute.

Parameters

m	model
d	data
plugin_id	plugin ID

Definition at line 140 of file ActuatorCommand.cpp.

Create()

ActuatorCommand * MujocoRosUtils::ActuatorCommand::Create ( const mjModel *  m, mjData *  d, int  plugin_id  )

static

Create an instance.

Parameters

m	model
d	data
plugin_id	plugin ID

Definition at line 70 of file ActuatorCommand.cpp.

RegisterPlugin()

MujocoRosUtils::ActuatorCommand::RegisterPlugin ( )

static

Register plugin.

Definition at line 10 of file ActuatorCommand.cpp.

reset()

void MujocoRosUtils::ActuatorCommand::reset	(	const mjModel *	m,
		int	plugin_id
	)

Reset.

Parameters

m	model
plugin_id	plugin ID

Definition at line 134 of file ActuatorCommand.cpp.

Member Data Documentation

actuator_id_

int MujocoRosUtils::ActuatorCommand::actuator_id_ = -1

protected

Actuator ID.

Definition at line 64 of file ActuatorCommand.h.

ctrl_

mjtNum MujocoRosUtils::ActuatorCommand::ctrl_ = std::numeric_limits<mjtNum>::quiet_NaN()

protected

Actuator command (NaN for no command)

Definition at line 67 of file ActuatorCommand.h.

executor_

rclcpp::executors::SingleThreadedExecutor::SharedPtr MujocoRosUtils::ActuatorCommand::executor_

protected

ROS variables

Definition at line 72 of file ActuatorCommand.h.

nh_

rclcpp::Node::SharedPtr MujocoRosUtils::ActuatorCommand::nh_

protected

ROS variables

Definition at line 71 of file ActuatorCommand.h.

sub_

rclcpp::Subscription<std_msgs::msg::Float64>::SharedPtr MujocoRosUtils::ActuatorCommand::sub_

protected

ROS variables

Definition at line 73 of file ActuatorCommand.h.

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The documentation for this class was generated from the following files:

• /home/runner/work/MujocoRosUtils/MujocoRosUtils/colcon_ws/src/isri-aist/MujocoRosUtils/plugin/ActuatorCommand.h
• /home/runner/work/MujocoRosUtils/MujocoRosUtils/colcon_ws/src/isri-aist/MujocoRosUtils/plugin/ActuatorCommand.cpp
• /home/runner/work/MujocoRosUtils/MujocoRosUtils/colcon_ws/src/isri-aist/MujocoRosUtils/plugin/Plugin.cpp