MujocoRosUtils::ExternalForce Class Reference

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::msg::ExternalForce::SharedPtr msg)
	Constructor. More...

Protected Attributes
rclcpp::Node::SharedPtr	nh_
	ROS node handle. More...
rclcpp::executors::SingleThreadedExecutor::SharedPtr	executor_
	ROS callback queue. More...
rclcpp::Subscription< mujoco_ros_utils::msg::ExternalForce >::SharedPtr	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::msg::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 17 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::msg::ExternalForce::SharedPtr  msg )

protected

Constructor.

Parameters

msg	external force message

Definition at line 248 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 147 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 140 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 193 of file ExternalForce.cpp.

Member Data Documentation

body_id_

int MujocoRosUtils::ExternalForce::body_id_ = -1

protected

Body ID.

Definition at line 82 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 91 of file ExternalForce.h.

executor_

rclcpp::executors::SingleThreadedExecutor::SharedPtr MujocoRosUtils::ExternalForce::executor_

protected

ROS callback queue.

Definition at line 76 of file ExternalForce.h.

msg_

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

protected

External force message.

Definition at line 88 of file ExternalForce.h.

nh_

rclcpp::Node::SharedPtr MujocoRosUtils::ExternalForce::nh_

protected

ROS node handle.

Definition at line 73 of file ExternalForce.h.

sub_

rclcpp::Subscription<mujoco_ros_utils::msg::ExternalForce>::SharedPtr MujocoRosUtils::ExternalForce::sub_

protected

ROS publisher for external force.

Definition at line 79 of file ExternalForce.h.

topic_name_

std::string MujocoRosUtils::ExternalForce::topic_name_

protected

Topic name of external force.

Definition at line 85 of file ExternalForce.h.

vis_scale_

mjtNum MujocoRosUtils::ExternalForce::vis_scale_

protected

Arrow length scale (negative value for no visualization)

Definition at line 94 of file ExternalForce.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/ExternalForce.h
• /home/runner/work/MujocoRosUtils/MujocoRosUtils/colcon_ws/src/isri-aist/MujocoRosUtils/plugin/ExternalForce.cpp
• /home/runner/work/MujocoRosUtils/MujocoRosUtils/colcon_ws/src/isri-aist/MujocoRosUtils/plugin/Plugin.cpp