Multi-purpose domain randomization plugin. More...

#include <DRPlugin.hh>

Public Member Functions
	DRPlugin ()
	Constructs the object. More...

virtual	~DRPlugin ()
	Destroys the object. More...

virtual void	Load (physics::WorldPtr _world, sdf::ElementPtr _sdf)
	Loads the plugin. More...

void	onUpdate ()
	Called on World Update event. More...

void	onRequest (DRRequestPtr &_msg)
	Callback function for handling incoming requests. 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 int	POSITION = 0
	Position controller type. More...

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

Private Member Functions
void	processPhysics (const msgs::Physics &msg)
	Processes physics message. More...

void	processModel (const msgs::Model &msg)
	Processes model message. More...

void	processJoint (physics::ModelPtr model, const msgs::Joint &msg)
	Updates joint. More...

void	processLink (physics::ModelPtr model, const msgs::Link &msg)
	Updates link. More...

void	processInertial (physics::LinkPtr link, const msgs::Inertial &msg)
	Updates inertial. More...

void	processSurface (physics::CollisionPtr collision, const msgs::Surface &msg)
	Updates surface. More...

void	processModelCmd (const ModelCmdMsg &msg)
	Processes model command message. More...

void	processJointCmd (physics::ModelPtr model, const msgs::JointCmd &msg)
	Processes joint command message. More...

void	processPID (int type, physics::JointControllerPtr controller, const std::string &joint, const msgs::PID &msg)
	Updates PID controller. More...

Private Attributes
std::unique_ptr< DRPluginPrivate >	data_ptr
	Class with private attributes. More...

event::ConnectionPtr	update_connection
	Connection to world update event. More...

physics::WorldPtr	world
	World to which the plugin is attached. More...

physics::PhysicsEnginePtr	physics_engine
	Physics engine pointer. More...

boost::shared_ptr< DRRequest const >	msg
	Pending request. More...

Detailed Description

Multi-purpose domain randomization plugin.

See the example usage below:

1 <plugin name="domain_randomization_plugin" filename="libDRPlugin.so"/>

See worlds/domain_randomization.world for a complete example.

Constructor & Destructor Documentation

DRPlugin ( )

Constructs the object.

~DRPlugin ( )

virtual

Destroys the object.

Member Function Documentation

void Load	(	physics::WorldPtr	_world,
		sdf::ElementPtr	_sdf
	)

virtual

Loads the plugin.

Parameters

_world	The world pointer
_sdf	The sdf element pointer

void onRequest ( DRRequestPtr & _msg )

Callback function for handling incoming requests.

Parameters

_msg	The message

void onUpdate ( )

Called on World Update event.

void processInertial	(	physics::LinkPtr	link,
		const msgs::Inertial &	msg
	)

private

Updates inertial.

Parameters

link	Parent link pointer
msg	Inertial message

void processJoint	(	physics::ModelPtr	model,
		const msgs::Joint &	msg
	)

private

Updates joint.

Parameters

model	Parent model pointer
msg	Joint message

void processJointCmd	(	physics::ModelPtr	model,
		const msgs::JointCmd &	msg
	)

private

Processes joint command message.

Parameters

model	Parent model pointer
msg	Joint command message pointer

void processLink	(	physics::ModelPtr	model,
		const msgs::Link &	msg
	)

private

Updates link.

Parameters

model	Parent model pointer
msg	Link message

void processModel ( const msgs::Model & msg )

private

Processes model message.

Parameters

msg	Model message

void processModelCmd ( const ModelCmdMsg & msg )

private

Processes model command message.

Parameters

msg	Joint command message pointer

void processPhysics ( const msgs::Physics & msg )

private

Processes physics message.

Parameters

msg	Physics message

void processPID	(	int	type,
		physics::JointControllerPtr	controller,
		const std::string &	joint,
		const msgs::PID &	msg
	)

private

Updates PID controller.

Parameters

type	PID controller type (POSITION or VELOCITY)
controller	Joint controller pointer
joint	Target joint name
msg	PID message pointer

void processSurface	(	physics::CollisionPtr	collision,
		const msgs::Surface &	msg
	)

private

Updates surface.

Parameters

collision	Parent collision pointer
msg	Surface message

Member Data Documentation

std::unique_ptr<DRPluginPrivate> data_ptr

private

Class with private attributes.

boost::shared_ptr<DRRequest const> msg

private

Pending request.

physics::PhysicsEnginePtr physics_engine

private

Physics engine pointer.

const int POSITION = 0

static

Position controller type.

const char REQUEST_TOPIC = "~/dr"

static

Topic for DRPlugin requests.

const char RESPONSE_TOPIC = "~/dr/response"

static

Topic for DRPlugin responses.

event::ConnectionPtr update_connection

private

Connection to world update event.

const int VELOCITY = 1

static

Velocity controller type.

physics::WorldPtr world

private

World to which the plugin is attached.

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

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation