AccelerationsTestPlugin
class gazebo::AccelerationsTestPlugin¶
class gazebo::AccelerationsTestPlugin : public ModelPlugin
Gazebo model plugin class for underwater objects.
Summary¶
| Members | Descriptions |
|---|---|
publicAccelerationsTestPlugin() |
Constructor. |
public virtual~AccelerationsTestPlugin() |
Destructor. |
public virtual voidLoad(gazebo::physics::ModelPtr _model,sdf::ElementPtr _sdf) |
|
public virtual voidInit() |
|
public voidUpdate(const gazebo::common::UpdateInfo & _info) |
Update the simulation state. |
protected gazebo::event::ConnectionPtrupdateConnection |
Update event. |
protected gazebo::physics::WorldPtrworld |
Pointer to the world plugin. |
protected gazebo::physics::ModelPtrmodel |
Pointer to the model structure. |
protected gazebo::transport::NodePtrnode |
Gazebo node. |
protected physics::LinkPtrlink |
Link of test object. |
protected ros::Publisherpub_accel_b_gazebo |
|
protected ros::Publisherpub_accel_b_numeric |
|
protected ros::Publisherpub_accel_w_gazebo |
|
protected ros::Publisherpub_accel_w_numeric |
|
protected Eigen::Vector6dlast_w_v_w_b |
Velocity of link with respect to world frame in previous time step. |
protected common::TimelastTime |
Time stamp of previous time step. |
protected virtual voidConnect() |
Connects the update event callback. |
Members¶
publicAccelerationsTestPlugin()¶
Constructor.
public virtual~AccelerationsTestPlugin()¶
Destructor.
public virtual voidLoad(gazebo::physics::ModelPtr _model,sdf::ElementPtr _sdf)¶
public virtual voidInit()¶
public voidUpdate(const gazebo::common::UpdateInfo & _info)¶
Update the simulation state.
Parameters¶
_infoInformation used in the update event.
protected gazebo::event::ConnectionPtrupdateConnection¶
Update event.
protected gazebo::physics::WorldPtrworld¶
Pointer to the world plugin.
protected gazebo::physics::ModelPtrmodel¶
Pointer to the model structure.
protected gazebo::transport::NodePtrnode¶
Gazebo node.
protected physics::LinkPtrlink¶
Link of test object.
protected ros::Publisherpub_accel_b_gazebo¶
protected ros::Publisherpub_accel_b_numeric¶
protected ros::Publisherpub_accel_w_gazebo¶
protected ros::Publisherpub_accel_w_numeric¶
protected Eigen::Vector6dlast_w_v_w_b¶
Velocity of link with respect to world frame in previous time step.
protected common::TimelastTime¶
Time stamp of previous time step.
protected virtual voidConnect()¶
Connects the update event callback.