A plugin for the contact sensors. More...

#include <contact_sensor.h>

Public Member Functions
	ContactSensor ()
	Constructor. More...

virtual	~ContactSensor ()
	Destructor. More...

void	OnFlContactCallback (const ConstContactsPtr &_msg)
	The OnFlContactCallback function handles an incoming contact message from the front left contact sensor in Gazebo. More...

void	OnFrContactCallback (const ConstContactsPtr &_msg)
	The OnFrContactCallback function handles an incoming contact message from the front right contact sensor in Gazebo. More...

void	OnRlContactCallback (const ConstContactsPtr &_msg)
	The OnRlContactCallback function handles an incoming contact message from the rear left contact sensor in Gazebo. More...

void	OnRrContactCallback (const ConstContactsPtr &_msg)
	The OnRrContactCallback function handles an incoming contact message from the rear rear contact sensor in Gazebo. More...

void	PublishQueueThread ()
	The PublishQueueThread function is a ROS helper function that publish state messages. More...

Protected Member Functions
void	InitGazebo ()
	The InitRos function is called to initialize Gazebo. More...

void	InitRos ()
	The InitRos function is called to initialize ROS. More...

void	InitRosQueueThreads ()
	The InitRosQueueThreads function is called to initialize the ROS Publish and Process Queue Threads. More...

Private Attributes
int	footContacts [4]
	Vector of foot contacts, zero indicates no contact and one indicates contact. More...

gazebo::transport::NodePtr	gazeboNode
	Node used for Gazebo transport. More...

gazebo::transport::SubscriberPtr	flContactSensorSub
	Gazebo front left contact sensor Subscriber. More...

gazebo::transport::SubscriberPtr	frContactSensorSub
	Gazebo front right contact sensor Subscriber. More...

gazebo::transport::SubscriberPtr	rlContactSensorSub
	Gazebo rear left contact sensor Subscriber. More...

gazebo::transport::SubscriberPtr	rrContactSensorSub
	Gazebo rear right contact sensor Subscriber. More...

std::unique_ptr< ros::NodeHandle >	rosNode
	Node used for ROS transport. More...

ros::Publisher	contactStatePub
	ROS Contact State Publisher. More...

ros::CallbackQueue	rosPublishQueue
	ROS callbackque that helps publish messages. More...

std::thread	rosPublishQueueThread
	Thread running the rosPublishQueue. More...

Detailed Description

A plugin for the contact sensors.

Definition at line 45 of file contact_sensor.h.

Constructor & Destructor Documentation

◆ ContactSensor()

ContactSensor::ContactSensor ( )

Constructor.

Definition at line 30 of file contact_sensor.cpp.

◆ ~ContactSensor()

ContactSensor::~ContactSensor ( )

virtual

Destructor.

Definition at line 44 of file contact_sensor.cpp.

Member Function Documentation

◆ OnFlContactCallback()

void ContactSensor::OnFlContactCallback ( const ConstContactsPtr & _msg )

The OnFlContactCallback function handles an incoming contact message from the front left contact sensor in Gazebo.

Parameters

[in] _msg A contact message.

Definition at line 56 of file contact_sensor.cpp.

◆ OnFrContactCallback()

void ContactSensor::OnFrContactCallback ( const ConstContactsPtr & _msg )

The OnFrContactCallback function handles an incoming contact message from the front right contact sensor in Gazebo.

Parameters

[in] _msg A contact message.

Definition at line 69 of file contact_sensor.cpp.

◆ OnRlContactCallback()

void ContactSensor::OnRlContactCallback ( const ConstContactsPtr & _msg )

The OnRlContactCallback function handles an incoming contact message from the rear left contact sensor in Gazebo.

Parameters

[in] _msg A contact message.

Definition at line 82 of file contact_sensor.cpp.

◆ OnRrContactCallback()

void ContactSensor::OnRrContactCallback ( const ConstContactsPtr & _msg )

The OnRrContactCallback function handles an incoming contact message from the rear rear contact sensor in Gazebo.

Parameters

[in] _msg A contact message.

Definition at line 95 of file contact_sensor.cpp.

◆ PublishQueueThread()

void ContactSensor::PublishQueueThread ( )

The PublishQueueThread function is a ROS helper function that publish state messages.

Definition at line 108 of file contact_sensor.cpp.

◆ InitGazebo()

void ContactSensor::InitGazebo ( )

protected

The InitRos function is called to initialize Gazebo.

Definition at line 129 of file contact_sensor.cpp.

◆ InitRos()

void ContactSensor::InitRos ( )

protected

The InitRos function is called to initialize ROS.

Definition at line 155 of file contact_sensor.cpp.

◆ InitRosQueueThreads()

void ContactSensor::InitRosQueueThreads ( )

protected

The InitRosQueueThreads function is called to initialize the ROS Publish and Process Queue Threads.

Definition at line 185 of file contact_sensor.cpp.

Member Data Documentation

◆ footContacts

int ContactSensor::footContacts[4]

private

Vector of foot contacts, zero indicates no contact and one indicates contact.

Definition at line 89 of file contact_sensor.h.

◆ gazeboNode

gazebo::transport::NodePtr ContactSensor::gazeboNode

private

Node used for Gazebo transport.

Definition at line 92 of file contact_sensor.h.

◆ flContactSensorSub

gazebo::transport::SubscriberPtr ContactSensor::flContactSensorSub

private

Gazebo front left contact sensor Subscriber.

Definition at line 95 of file contact_sensor.h.

◆ frContactSensorSub

gazebo::transport::SubscriberPtr ContactSensor::frContactSensorSub

private

Gazebo front right contact sensor Subscriber.

Definition at line 98 of file contact_sensor.h.

◆ rlContactSensorSub

gazebo::transport::SubscriberPtr ContactSensor::rlContactSensorSub

private

Gazebo rear left contact sensor Subscriber.

Definition at line 101 of file contact_sensor.h.

◆ rrContactSensorSub

gazebo::transport::SubscriberPtr ContactSensor::rrContactSensorSub

private

Gazebo rear right contact sensor Subscriber.

Definition at line 104 of file contact_sensor.h.

◆ rosNode

std::unique_ptr<ros::NodeHandle> ContactSensor::rosNode

private

Node used for ROS transport.

Definition at line 107 of file contact_sensor.h.

◆ contactStatePub

ros::Publisher ContactSensor::contactStatePub

private

ROS Contact State Publisher.

Definition at line 110 of file contact_sensor.h.

◆ rosPublishQueue

ros::CallbackQueue ContactSensor::rosPublishQueue

private

ROS callbackque that helps publish messages.

Definition at line 113 of file contact_sensor.h.

◆ rosPublishQueueThread

std::thread ContactSensor::rosPublishQueueThread

private

Thread running the rosPublishQueue.

Definition at line 116 of file contact_sensor.h.

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

catkin_ws/src/simulator/tetrapod_gazebo/include/tetrapod_gazebo/contact_sensor.h
catkin_ws/src/simulator/tetrapod_gazebo/src/contact_sensor.cpp

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ContactSensor()

◆ ~ContactSensor()

Member Function Documentation

◆ OnFlContactCallback()

◆ OnFrContactCallback()

◆ OnRlContactCallback()

◆ OnRrContactCallback()

◆ PublishQueueThread()

◆ InitGazebo()

◆ InitRos()

◆ InitRosQueueThreads()

Member Data Documentation

◆ footContacts

◆ gazeboNode

◆ flContactSensorSub

◆ frContactSensorSub

◆ rlContactSensorSub

◆ rrContactSensorSub

◆ rosNode

◆ contactStatePub

◆ rosPublishQueue

◆ rosPublishQueueThread