JointEventSource Class Reference

The event generator class. More...

#include <JointEventSource.hh>

Inherits EventSource.

Public Types
enum	Range {   POSITION, ANGLE, VELOCITY, FORCE,   INVALID }
	The type of data range measured. More...

Public Member Functions
	JointEventSource (transport::PublisherPtr _pub, physics::WorldPtr _world)
	Constructor. More...
void	Emit (const std::string &_data) const
	emit an event with data to the internal publisher (and using the internal type) More...
void	Info () const
	Prints data about the event source to the log (useful for debug) More...
virtual void	Init ()
	Initialize the event. More...
virtual bool	IsActive () const
	An event source can be used to enable other events. More...
virtual void	Load (const sdf::ElementPtr _sdf)
	Loads the full name of the model and the triggers from the world file. More...
void	Update ()
	Called every simulation step. More...

Protected Attributes
bool	active
	True if the event source is active. More...
std::string	name
	Name of the event. More...
transport::PublisherPtr	pub
	a way to send messages to the other topics (to the REST) More...
std::string	type
	Type of event. More...
physics::WorldPtr	world
	Pointer to the world. More...

Detailed Description

The event generator class.

Events are generated when joint enters or leaves a certain trigger state. This type of event works with joints that have a single axis (revolute or prismatic). These are the most common for actuated joints. Triggers must be defined in the world, but models can be created during the simulation. Triggers cannot overlap.

///
///  This is an example joint event. It is triggered when the joint named
///  "joint" in the model "revoluter" has an angle value that enters or
///  leaves the range [3, 3.1416]. Triggers can also depend on the position,
///  velocity or applied force.
///
///  <event>
///    <name>joint_angle</name>
///    <type>joint</type>
///    <model>revoluter</model>
///    <joint>joint</joint>
///    <range>
///      <type>normalized_angle</type>
///      <min>3</min>
///      <max>3.1416</max>
///    </range>
///  </event>
///
/// 

Member Enumeration Documentation

Range

enum Range

The type of data range measured.

Enumerator
POSITION	Absolute position (or angle, for revolute joints)
ANGLE	Normalized angle (between -PI and PI)
VELOCITY	Velocity or angular velocity.
FORCE	Applied force (or torque, for revolute joints)
INVALID	invalid

Constructor & Destructor Documentation

JointEventSource()

JointEventSource	(	transport::PublisherPtr	_pub,
		physics::WorldPtr	_world
	)

Constructor.

Parameters

[in]	_pub	the publisher for the SimEvents
[in]	_world	Pointer to the world.

Member Function Documentation

Emit()

void Emit ( const std::string &  _data ) const

inherited

emit an event with data to the internal publisher (and using the internal type)

Parameters

[in]

_data

the JSON data related to this event.

Info()

void Info

(

)

const

Prints data about the event source to the log (useful for debug)

Init()

virtual void Init ( )

virtual

Initialize the event.

Reimplemented from EventSource.

IsActive()

virtual bool IsActive ( ) const

virtualinherited

An event source can be used to enable other events.

Inactive events do not generate an message when Emit is called.

Returns

true if the event is active

Load()

virtual void Load ( const sdf::ElementPtr  _sdf )

virtual

Loads the full name of the model and the triggers from the world file.

Parameters

[in]

_sdf

The root sdf element for this joint event

Reimplemented from EventSource.

Update()

void Update

(

)

Called every simulation step.

Member Data Documentation

active

bool active

protectedinherited

True if the event source is active.

Inactive event sources do not emit events

name

std::string name

protectedinherited

Name of the event.

pub

transport::PublisherPtr pub

protectedinherited

a way to send messages to the other topics (to the REST)

type

std::string type

protectedinherited

Type of event.

world

physics::WorldPtr world

protectedinherited

Pointer to the world.

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

• JointEventSource.hh