Plugin to apply external force. More...

#include <ExternalForce.h>

Public Member Functions
	ExternalForce (ExternalForce &&)=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...

void	visualize (const mjModel m, mjData d, const mjvOption opt, mjvScene scn, int plugin_id)
	Visualize. More...

Static Public Member Functions
static void	RegisterPlugin ()
	Register plugin. More...

static ExternalForce *	Create (const mjModel m, mjData d, int plugin_id)
	Create an instance. More...

Protected Member Functions
	ExternalForce (const mjModel m, mjData d, int body_id, const std::string &topic_name, mjtNum vis_scale)
	Constructor. More...

void	callback (const mujoco_ros_utils::ExternalForce::ConstPtr &msg)
	Constructor. More...

Protected Attributes
std::shared_ptr< ros::NodeHandle >	nh_
	ROS node handle. More...

ros::CallbackQueue	callbackQueue_
	ROS callback queue. More...

ros::Subscriber	sub_
	ROS publisher for external force. More...

int	body_id_ = -1
	Body ID. More...

std::string	topic_name_
	Topic name of external force. More...

std::shared_ptr< mujoco_ros_utils::ExternalForce >	msg_
	External force message. More...

mjtNum	end_time_ = -1
	End time to apply external force (-1 if no external force is applied) More...

mjtNum	vis_scale_
	Arrow length scale (negative value for no visualization) More...

Detailed Description

Plugin to apply external force.

Definition at line 18 of file ExternalForce.h.

Constructor & Destructor Documentation

◆ ExternalForce() [1/2]

MujocoRosUtils::ExternalForce::ExternalForce ( ExternalForce && )

default

Copy constructor.

◆ ExternalForce() [2/2]

MujocoRosUtils::ExternalForce::ExternalForce	(	const mjModel *	m,
		mjData *	d,
		int	body_id,
		const std::string &	topic_name,
		mjtNum	vis_scale
	)

protected

Constructor.

Parameters

m	model
d	data
body_id	body ID
topic_name	topic name of external force
vis_scale	arrow length scale

Definition at line 112 of file ExternalForce.cpp.

Member Function Documentation

◆ callback()

void MujocoRosUtils::ExternalForce::callback ( const mujoco_ros_utils::ExternalForce::ConstPtr & msg )

protected

Constructor.

Parameters

msg	external force message

Definition at line 237 of file ExternalForce.cpp.

◆ compute()

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

Compute.

Parameters

m	model
d	data
plugin_id	plugin ID

Definition at line 144 of file ExternalForce.cpp.

◆ Create()

ExternalForce * MujocoRosUtils::ExternalForce::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 74 of file ExternalForce.cpp.

◆ RegisterPlugin()

MujocoRosUtils::ExternalForce::RegisterPlugin ( )

static

Register plugin.

Definition at line 10 of file ExternalForce.cpp.

◆ reset()

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

Reset.

Parameters

m	model
plugin_id	plugin ID

Definition at line 137 of file ExternalForce.cpp.

◆ visualize()

void MujocoRosUtils::ExternalForce::visualize	(	const mjModel *	m,
		mjData *	d,
		const mjvOption *	opt,
		mjvScene *	scn,
		int	plugin_id
	)

Visualize.

Parameters

m	model
d	data
opt	visualization option
scn	rendering scene
plugin_id	plugin ID

Definition at line 190 of file ExternalForce.cpp.

Member Data Documentation

◆ body_id_

int MujocoRosUtils::ExternalForce::body_id_ = -1

protected

Body ID.

Definition at line 83 of file ExternalForce.h.

◆ callbackQueue_

ros::CallbackQueue MujocoRosUtils::ExternalForce::callbackQueue_

protected

ROS callback queue.

Definition at line 77 of file ExternalForce.h.

◆ end_time_

mjtNum MujocoRosUtils::ExternalForce::end_time_ = -1

protected

End time to apply external force (-1 if no external force is applied)

Definition at line 92 of file ExternalForce.h.

◆ msg_

std::shared_ptr<mujoco_ros_utils::ExternalForce> MujocoRosUtils::ExternalForce::msg_

protected

External force message.

Definition at line 89 of file ExternalForce.h.

◆ nh_

std::shared_ptr<ros::NodeHandle> MujocoRosUtils::ExternalForce::nh_

protected

ROS node handle.

Definition at line 74 of file ExternalForce.h.

◆ sub_

ros::Subscriber MujocoRosUtils::ExternalForce::sub_

protected

ROS publisher for external force.

Definition at line 80 of file ExternalForce.h.

◆ topic_name_

std::string MujocoRosUtils::ExternalForce::topic_name_

protected

Topic name of external force.

Definition at line 86 of file ExternalForce.h.

◆ vis_scale_

mjtNum MujocoRosUtils::ExternalForce::vis_scale_

protected

Arrow length scale (negative value for no visualization)

Definition at line 95 of file ExternalForce.h.

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

/home/runner/work/MujocoRosUtils/MujocoRosUtils/catkin_ws/src/isri-aist/MujocoRosUtils/plugin/ExternalForce.h
/home/runner/work/MujocoRosUtils/MujocoRosUtils/catkin_ws/src/isri-aist/MujocoRosUtils/plugin/ExternalForce.cpp
/home/runner/work/MujocoRosUtils/MujocoRosUtils/catkin_ws/src/isri-aist/MujocoRosUtils/plugin/Plugin.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ExternalForce() [1/2]

◆ ExternalForce() [2/2]

Member Function Documentation

◆ callback()

◆ compute()

◆ Create()

◆ RegisterPlugin()

◆ reset()

◆ visualize()

Member Data Documentation

◆ body_id_

◆ callbackQueue_

◆ end_time_

◆ msg_

◆ nh_

◆ sub_

◆ topic_name_

◆ vis_scale_