flatland_plugins::TricycleDrive Class Reference

Inheritance diagram for flatland_plugins::TricycleDrive:

Collaboration diagram for flatland_plugins::TricycleDrive:

Public Member Functions
OnInitialize
initialize the bicycle plugin Parameters world_file The path to the world.yaml file
void	OnInitialize (const YAML::Node &config) override
	The method for the particular model plugin to override and provide its own initialization. More...
void	ComputeJoints ()
	This is a helper function that is used to valid and extract parameters from joints. 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
Body *	body_
Joint *	front_wj_
	front wheel joint
Joint *	rear_left_wj_
	rear left wheel joint
Joint *	rear_right_wj_
	rear right wheel joint
double	axel_track_
	normal distrance between the rear two wheels
double	wheelbase_
	distance between the front and rear wheel
b2Vec2	rear_center_
	middle point between the two rear wheels
bool	invert_steering_angle_
	whether to invert steering angle
double	max_angular_velocity_
	The max angular velocity.
double	target_wheel_angle_
	The current target wheel angle.
double	theta_f_
	The current angular offset of the front wheel.
geometry_msgs::Twist	twist_msg_
nav_msgs::Odometry	odom_msg_
nav_msgs::Odometry	ground_truth_msg_
ros::Subscriber	twist_sub_
ros::Publisher	odom_pub_
ros::Publisher	ground_truth_pub_
UpdateTimer	update_timer_
default_random_engine	rng_
array< 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.

Member Function Documentation

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

overridevirtual

This method is called before the Box2D physics step.

Parameters

[in]

timekeeper

provide time related information

Reimplemented from flatland_server::FlatlandPlugin.

void flatland_plugins::TricycleDrive::ComputeJoints

(

)

This is a helper function that is used to valid and extract parameters from joints.

< wheel anchor point, must be (0,0)

< body anchor point

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

overridevirtual

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

Parameters

[in]

config

The plugin YAML node

Implements flatland_server::FlatlandPlugin.

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

• flatland_plugins/include/flatland_plugins/tricycle_drive.h
• flatland_plugins/src/tricycle_drive.cpp