#include <model_tf_publisher.h>

Inheritance diagram for flatland_plugins::ModelTfPublisher:

Collaboration diagram for flatland_plugins::ModelTfPublisher:

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Public Member Functions
void	OnInitialize (const YAML::Node &config) override
	Initialization for the plugin. More...

void	BeforePhysicsStep (const Timekeeper &timekeeper) override
	Called when just before physics update. More...

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
std::string	world_frame_id_
	name of the world frame id

bool	publish_tf_world_
	if to publish the world position of the bodies

std::vector< Body * >	excluded_bodies_
	list of bodies to ignore

Body *	reference_body_
	body used as a reference to other bodies

double	update_rate_
	publish rate

tf::TransformBroadcaster	tf_broadcaster
	For publish ROS TF.

UpdateTimer	update_timer_
	for managing update rate

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.

Detailed Description

This class implements the model plugin and provides the functionality of publishing ROS TF transformations for the bodies inside a model

Member Function Documentation

void flatland_plugins::ModelTfPublisher::BeforePhysicsStep ( const Timekeeper & timekeeper )

overridevirtual

Called when just before physics update.

Parameters

[in] timekeeper Object managing the simulation time

< for storing TF from world to the ref. body

< for storing TF from ref. body to other bodies

Reimplemented from flatland_server::FlatlandPlugin.

void flatland_plugins::ModelTfPublisher::OnInitialize ( const YAML::Node & config )

overridevirtual

Initialization for the plugin.

Parameters

[in] config Plugin YAML Node

Implements flatland_server::FlatlandPlugin.

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

flatland_plugins/include/flatland_plugins/model_tf_publisher.h
flatland_plugins/src/model_tf_publisher.cpp

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation