Public Member Functions

OnInitialize

override the BeforePhysicsStep method

Parameters

[in] config The plugin YAML node

void OnInitialize (const YAML::Node &config) override

The method for the particular model plugin to override and provide its own initialization. More...

BeforePhysicsStep

override the BeforePhysicsStep method

Parameters

[in] config The plugin YAML node

void BeforePhysicsStep (const Timekeeper &timekeeper) override

This method is called before the Box2D physics step. More...

TwistCallback

callback to apply twist (velocity and omega)

Parameters

[in] timestep how much the physics time will increment

void TwistCallback (const geometry_msgs::Twist &msg)

Public Member Functions inherited from flatland_server::ModelPlugin

Model * GetModel ()

Get model.

void Initialize (const std::string &type, const std::string &name, Model *model, const YAML::Node &config)

The method to initialize the ModelPlugin, required since Pluginlib require the class to have a default constructor. More...

bool FilterContact (b2Contact *contact, Entity *&entity, b2Fixture *&this_fixture, b2Fixture *&other_fixture)

Helper function check if this model is part of the contact, and extracts all the useful information. More...

bool FilterContact (b2Contact *contact)

Helper function check if this model is part of the contact. More...

Public Member Functions inherited from flatland_server::FlatlandPlugin

const PluginType Type ()

const std::string & GetName () const

Get plugin name.

const std::string & GetType () const

Get type of plugin.

virtual void AfterPhysicsStep (const Timekeeper &timekeeper)

This method is called after the Box2D physics step. More...

virtual void BeginContact (b2Contact *contact)

A method that is called for all Box2D begin contacts. More...

virtual void EndContact (b2Contact *contact)

A method that is called for all Box2D end contacts. More...

virtual void PreSolve (b2Contact *contact, const b2Manifold *oldManifold)

A method that is called for Box2D presolve. More...

virtual void PostSolve (b2Contact *contact, const b2ContactImpulse *impulse)

A method that is called for Box2D postsolve. More...

virtual ~FlatlandPlugin ()=default

Flatland plugin destructor.

Public Attributes
ros::Subscriber	twist_sub_

ros::Publisher	odom_pub_

ros::Publisher	ground_truth_pub_

ros::Publisher	twist_pub_

Body *	body_

geometry_msgs::Twist	twist_msg_

nav_msgs::Odometry	odom_msg_

nav_msgs::Odometry	ground_truth_msg_

UpdateTimer	update_timer_

tf::TransformBroadcaster	tf_broadcaster
	For publish ROS TF.

bool	enable_odom_pub_
	YAML parameter to enable odom publishing.

bool	enable_twist_pub_
	YAML parameter to enable twist publishing.

std::default_random_engine	rng_

std::array< std::normal_distribution< double >, 6 >	noise_gen_

Public Attributes inherited from flatland_server::ModelPlugin
ros::NodeHandle	nh_
	ROS node handle.

Public Attributes inherited from flatland_server::FlatlandPlugin
std::string	type_
	type of the plugin

std::string	name_
	name of the plugin

ros::NodeHandle	nh_

PluginType	plugin_type_

Additional Inherited Members
Public Types inherited from flatland_server::FlatlandPlugin
enum	PluginType { Invalid, Model, World }

Protected Member Functions inherited from flatland_server::ModelPlugin
	ModelPlugin ()=default
	Model plugin default constructor.