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joint
[libgazebo]

Classes
struct	gz_joint_data
	Individual joint data. More...
struct	gz_joints
	Joints interface. More...
struct	gz_joint
	The joint interface. More...
Defines
#define	GAZEBO_JOINT_MAX_JOINTS   20
Typedefs
typedef gz_joint_data	gz_joint_data_t
	Individual joint data.
typedef gz_joints	gz_joints_t
	Joints interface.
typedef gz_joint	gz_joint_t
	The joint interface.
Functions
gz_joint_t *	gz_joint_alloc ()
	Create an interface.
void	gz_joint_free (gz_joint_t *self)
	Destroy an interface.
int	gz_joint_create (gz_joint_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id)
int	gz_joint_destroy (gz_joint_t *self)
int	gz_joint_open (gz_joint_t *self, gz_client_t *client, const char *id)
	Open an existing interface (used by Gazebo clients).
int	gz_joint_close (gz_joint_t *self)
	Close the interface (client).
int	gz_joint_lock (gz_joint_t *self, int blocking)
void	gz_joint_unlock (gz_joint_t *self)
	Unlock the interface.
int	gz_joint_post (gz_joint_t *self)
	Tell clients that new data is available.

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Detailed Description

The joint interface allows clients to send commands to and read joint data from simulated articulated joints. This is usuful for arbitrary joint chains.

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Define Documentation

#define GAZEBO_JOINT_MAX_JOINTS   20

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Typedef Documentation

typedef struct gz_joint_data gz_joint_data_t

Individual joint data.

typedef struct gz_joints gz_joints_t

Joints interface.

typedef struct gz_joint gz_joint_t

The joint interface.

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Function Documentation

gz_joint_t* gz_joint_alloc (   )

Create an interface.

void gz_joint_free (  gz_joint_t *  self  )

Destroy an interface.

int gz_joint_create (  gz_joint_t *  self, gz_server_t *  server, const char *  id, const char *  model_type, int  model_id, int  parent_model_id )

For internal use only. Create the interface (used by Gazebo server)

int gz_joint_destroy (  gz_joint_t *  self  )

For internal use only. Destroy the interface (server)

int gz_joint_open (  gz_joint_t *  self, gz_client_t *  client, const char *  id )

Open an existing interface (used by Gazebo clients).

int gz_joint_close (  gz_joint_t *  self  )

Close the interface (client).

int gz_joint_lock (  gz_joint_t *  self, int  blocking )

Lock the interface. Set blocking to 1 if the caller should block until the lock is acquired. Returns 0 if the lock is acquired.

void gz_joint_unlock (  gz_joint_t *  self  )

Unlock the interface.

int gz_joint_post (  gz_joint_t *  self  )

Tell clients that new data is available.

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Last updated 12 September 2005 21:38:45