contacts_example.hh File Reference

Contact world plugin example. More...

#include <gazebo/gazebo_client.hh>
#include <gazebo/gazebo_config.h>
#include <gazebo/transport/transport.hh>
#include <gazebo/msgs/msgs.hh>
#include <iostream>
#include "contact_request.pb.h"
#include "contact_response.pb.h"

Go to the source code of this file.

Macros
#define	PROMPT   "> "
	Command prompt. More...
#define	REQUEST_TOPIC   "~/grasp/contact"
	Topic for incoming requests. More...
#define	RESPONSE_TOPIC   "~/grasp/contact/response"
	Topic for outgoing responses. More...

Typedefs
typedef grasp::msgs::CollisionRequest	CollisionRequest
	Declaration for request aux message type. More...
typedef grasp::msgs::SurfaceRequest	SurfaceRequest
	Declaration for request aux message type. More...
typedef grasp::msgs::ContactRequest	ContactRequest
	Declaration for request message type. More...
typedef const boost::shared_ptr< const grasp::msgs::ContactResponse >	ContactResponsePtr
	Shared pointer declaration for response message type. More...

Functions
void	getContactBetween (gazebo::transport::PublisherPtr pub, const std::string &collision1, const std::string &collision2)
	Obtain contact between two collision entities. More...
void	changeSurface (gazebo::transport::PublisherPtr pub, const std::string &model, const std::string &link, const std::string &collision)
	Change surface properties. More...

Detailed Description

Contact world plugin example.

Author

João Borrego : jsbruglie

Macro Definition Documentation

#define PROMPT   "> "

Command prompt.

#define REQUEST_TOPIC   "~/grasp/contact"

Topic for incoming requests.

#define RESPONSE_TOPIC   "~/grasp/contact/response"

Topic for outgoing responses.

Typedef Documentation

typedef grasp::msgs::CollisionRequest CollisionRequest

Declaration for request aux message type.

typedef grasp::msgs::ContactRequest ContactRequest

Declaration for request message type.

typedef const boost::shared_ptr<const grasp::msgs::ContactResponse> ContactResponsePtr

Shared pointer declaration for response message type.

typedef grasp::msgs::SurfaceRequest SurfaceRequest

Declaration for request aux message type.

Function Documentation

void changeSurface	(	gazebo::transport::PublisherPtr	pub,
		const std::string &	model,
		const std::string &	link,
		const std::string &	collision
	)

Change surface properties.

Parameters

pub	Communication publisher
model	Target model
link	Target link
collision	Target collision

void getContactBetween	(	gazebo::transport::PublisherPtr	pub,
		const std::string &	collision1,
		const std::string &	collision2
	)

Obtain contact between two collision entities.

Parameters

pub	Communication publisher
collision1	Name of first collision in pair to test
collision2	Name of second collision in pair to test