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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
  • _info Information 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.

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.