Domain Randomization Plugin Interface. More...

#include <DRInterface.hh>

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

DRRequest	createRequest ()
	Creates a domain randomization request. More...

void	publish (const DRRequest &msg)
	Publishes request. More...

void	publish (const gazebo::msgs::Visual &msg)
	Publishes visual request. More...

void	addGravity (DRRequest &msg, const ignition::math::Vector3d &gravity)
	Updates physics engine gravity. More...

void	addModelScale (DRRequest &msg, const std::string &model, const ignition::math::Vector3d &scale)
	Updates model scale. More...

void	addLinkMass (DRRequest &msg, const std::string &model, const std::string &link, double mass)
	Updates link mass. More...

void	addInertiaMatrix (DRRequest &msg, const std::string &model, const std::string &link, double ixx, double iyy, double izz, double ixy, double ixz, double iyz)
	Updates link inertia matrix. More...

void	addSurface (DRRequest &msg, const std::string &model, const std::string &link, const std::string &collision, const gazebo::msgs::Surface &surface)
	Updates collision surface. More...

void	addJoint (DRRequest &msg, const std::string &model, const std::string &joint, double limit_lower=INFINITY, double limit_upper=INFINITY, double limit_effort=INFINITY, double limit_velocity=INFINITY, double damping=INFINITY, double friction=INFINITY)
	Updates joint. More...

void	addModelCmd (DRRequest &msg, const std::string &model, const std::string &joint, int type, double p_gain=INFINITY, double i_gain=INFINITY, double d_gain=INFINITY)
	Updates model controllers. More...

void	addColors (gazebo::msgs::Visual &msg, const std::string &visual, const std::string &parent, const ignition::math::Color &ambient, const ignition::math::Color &diffuse, const ignition::math::Color &emissive, const ignition::math::Color &specular)
	Updates visual color. More...

Static Public Attributes
static const char	REQUEST_TOPIC [] = "~/dr"
	Topic for DRPlugin requests. More...

static const char	RESPONSE_TOPIC [] = "~/dr/response"
	Topic for DRPlugin responses. More...

static const char	VISUAL_TOPIC [] = "~/visual"
	Topic for outgoing visual requests. More...

static const int	POSITION = 0
	Position controller type. More...

static const int	VELOCITY = 1
	Velocity controller type. More...

Private Attributes
gazebo::transport::NodePtr	node
	Node used for transport. More...

gazebo::transport::PublisherPtr	pub
	Publisher to the request topic. More...

gazebo::transport::PublisherPtr	pub_visual
	Publisher to the visual topic. More...

Detailed Description

Domain Randomization Plugin Interface.

Constructor & Destructor Documentation

DRInterface ( )

Constructor.

Member Function Documentation

void addColors	(	gazebo::msgs::Visual &	msg,
		const std::string &	visual,
		const std::string &	parent,
		const ignition::math::Color &	ambient,
		const ignition::math::Color &	diffuse,
		const ignition::math::Color &	emissive,
		const ignition::math::Color &	specular
	)

Updates visual color.

Note: Does not update value if it is INFINITY

Parameters

msg	Output visual message request
visual	The target visual name
visual	The target visual's parent name
ambient	The ambient color
diffuse	The diffuse color
emissive	The emissive color
specular	The specular color

void addGravity	(	DRRequest &	msg,
		const ignition::math::Vector3d &	gravity
	)

Updates physics engine gravity.

Parameters

msg	Output domain randomization request
gravity	New gravity vector

void addInertiaMatrix	(	DRRequest &	msg,
		const std::string &	model,
		const std::string &	link,
		double	ixx,
		double	iyy,
		double	izz,
		double	ixy,
		double	ixz,
		double	iyz
	)

Updates link inertia matrix.

Parameters

msg	Output domain randomization request
model	The target model name
link	The target link name
ixx	The new Ixx
iyy	The new Iyy
izz	The new Izz
ixy	The new Ixy
ixz	The new Ixz
iyz	The new Iyz

void addJoint	(	DRRequest &	msg,
		const std::string &	model,
		const std::string &	joint,
		double	limit_lower = `INFINITY`,
		double	limit_upper = `INFINITY`,
		double	limit_effort = `INFINITY`,
		double	limit_velocity = `INFINITY`,
		double	damping = `INFINITY`,
		double	friction = `INFINITY`
	)

Updates joint.

Note: Does not update value if it is INFINITY

Parameters

msg	Output domain randomization request
model	The target model name
joint	The target joint name
limit_lower	New joint lower limit
limit_upper	New joint upper limit
limit_effort	New joint effort limit
limit_velocity	New joint velocity limit
limit_lower	New joint damping coefficient (TODO)
limit_lower	New joint static friction

void addLinkMass	(	DRRequest &	msg,
		const std::string &	model,
		const std::string &	link,
		double	mass
	)

Updates link mass.

Parameters

msg	Output domain randomization request
model	The target model name
link	The target link name
mass	The new link mass

void addModelCmd	(	DRRequest &	msg,
		const std::string &	model,
		const std::string &	joint,
		int	type,
		double	p_gain = `INFINITY`,
		double	i_gain = `INFINITY`,
		double	d_gain = `INFINITY`
	)

Updates model controllers.

Note: Does not update value if it is INFINITY

Parameters

msg	Output domain randomization request
model	The target model name
joint	The target joint scoped name
type	Type of controllers (POSITION or VELOCITY)
p_gain	New P gain
i_gain	New I gain
d_gain	New D gain

void addModelScale	(	DRRequest &	msg,
		const std::string &	model,
		const ignition::math::Vector3d &	scale
	)

Updates model scale.

Parameters

msg	Output domain randomization request
model	The target model name
scale	The new model scale

void addSurface	(	DRRequest &	msg,
		const std::string &	model,
		const std::string &	link,
		const std::string &	collision,
		const gazebo::msgs::Surface &	surface
	)

Updates collision surface.

Parameters

msg	Output domain randomization request
model	The target model
link	The target link name
collision	The target collision name
surface	The new surface parameters

DRRequest createRequest ( )

Creates a domain randomization request.

Returns: Empty request

void publish ( const DRRequest & msg )

Publishes request.

Parameters

Domain randomization request

void publish ( const gazebo::msgs::Visual & msg )

Publishes visual request.

Parameters

Visual message request

Member Data Documentation

gazebo::transport::NodePtr node

private

Node used for transport.

const int POSITION = 0

static

Position controller type.

gazebo::transport::PublisherPtr pub

private

Publisher to the request topic.

gazebo::transport::PublisherPtr pub_visual

private

Publisher to the visual topic.

const char REQUEST_TOPIC = "~/dr"

static

Topic for DRPlugin requests.

const char RESPONSE_TOPIC = "~/dr/response"

static

Topic for DRPlugin responses.

const int VELOCITY = 1

static

Velocity controller type.

const char VISUAL_TOPIC = "~/visual"

static

Topic for outgoing visual requests.

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

Public Member Functions

Static Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation