01325           joint->SetAttribute(gazebo::Joint::LO_STOP,[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392),req.[ode_joint_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesRequest__.html#a46c6f9d85a9286f37692778a3aacd393).[loStop](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEJointProperties__.html#a74f82eb47721f4e8ee30834a7cc72035)[[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)]);
    01326         for(unsigned int [i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)=0;[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)< req.[ode_joint_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesRequest__.html#a46c6f9d85a9286f37692778a3aacd393).[erp](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEJointProperties__.html#af007409dc5a4ffc7308216a549d16d22).size();[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)++)
    01327           joint->SetAttribute(gazebo::Joint::ERP,[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392),req.[ode_joint_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesRequest__.html#a46c6f9d85a9286f37692778a3aacd393).[erp](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEJointProperties__.html#af007409dc5a4ffc7308216a549d16d22)[[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)]);
    01328         for(unsigned int [i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)=0;[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)< req.[ode_joint_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesRequest__.html#a46c6f9d85a9286f37692778a3aacd393).[cfm](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEJointProperties__.html#a640adfcaf8640dc88aee269adb26277c).size();[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)++)
    01329           joint->SetAttribute(gazebo::Joint::CFM,[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392),req.[ode_joint_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesRequest__.html#a46c6f9d85a9286f37692778a3aacd393).[cfm](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEJointProperties__.html#a640adfcaf8640dc88aee269adb26277c)[[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)]);
    01330         for(unsigned int [i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)=0;[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)< req.[ode_joint_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesRequest__.html#a46c6f9d85a9286f37692778a3aacd393).[stop_erp](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEJointProperties__.html#abf6f00149b8662fba4178b5fa30e1ad8).size();[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)++)
    01331           joint->SetAttribute(gazebo::Joint::STOP_ERP,[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392),req.[ode_joint_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesRequest__.html#a46c6f9d85a9286f37692778a3aacd393).[stop_erp](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEJointProperties__.html#abf6f00149b8662fba4178b5fa30e1ad8)[[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)]);
    01332         for(unsigned int [i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)=0;[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)< req.[ode_joint_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesRequest__.html#a46c6f9d85a9286f37692778a3aacd393).[stop_cfm](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEJointProperties__.html#a22b2982b0f5619e36475dc5a30d06857).size();[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)++)
    01333           joint->SetAttribute(gazebo::Joint::STOP_CFM,[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392),req.[ode_joint_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesRequest__.html#a46c6f9d85a9286f37692778a3aacd393).[stop_cfm](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEJointProperties__.html#a22b2982b0f5619e36475dc5a30d06857)[[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)]);
    01334         for(unsigned int [i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)=0;[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)< req.[ode_joint_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesRequest__.html#a46c6f9d85a9286f37692778a3aacd393).[fudge_factor](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEJointProperties__.html#a8a2eceef6d4bc6ce5ec46d479ed30b50).size();[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)++)
    01335           joint->SetAttribute(gazebo::Joint::FUDGE_FACTOR,[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392),req.[ode_joint_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesRequest__.html#a46c6f9d85a9286f37692778a3aacd393).[fudge_factor](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEJointProperties__.html#a8a2eceef6d4bc6ce5ec46d479ed30b50)[[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)]);
    01336         for(unsigned int [i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)=0;[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)< req.[ode_joint_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesRequest__.html#a46c6f9d85a9286f37692778a3aacd393).[fmax](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEJointProperties__.html#a238204f13ed86bd7e44713c30e97ed80).size();[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)++)
    01337           joint->SetAttribute(gazebo::Joint::FMAX,[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392),req.[ode_joint_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesRequest__.html#a46c6f9d85a9286f37692778a3aacd393).[fmax](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEJointProperties__.html#a238204f13ed86bd7e44713c30e97ed80)[[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)]);
    01338         for(unsigned int [i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)=0;[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)< req.[ode_joint_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesRequest__.html#a46c6f9d85a9286f37692778a3aacd393).[vel](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEJointProperties__.html#a014817b19242effdb80f55113127124b).size();[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)++)
    01339           joint->SetAttribute(gazebo::Joint::VEL,[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392),req.[ode_joint_config](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesRequest__.html#a46c6f9d85a9286f37692778a3aacd393).[vel](../../gazebo_msgs/html/structgazebo__msgs_1_1ODEJointProperties__.html#a014817b19242effdb80f55113127124b)[[i](../../../api/ivcon/html/ivcon_8c.html#acb559820d9ca11295b4500f179ef6392)]);
    01340 
    01341         res.[success](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesResponse__.html#a096c5a5c26c0786b03971c3f9ec2b895) = true;
    01342         res.[status_message](../../gazebo_msgs/html/structgazebo__msgs_1_1SetJointPropertiesResponse__.html#a49f3349c2fc084eb75ed189b49d8da9d) = "SetJointProperties: properties set";
    01343         return true;
    01344       }
    01345     }
    01346 
    [01349](classGazeboROSNode.html#ac4af722aa708173354b6aa935fcf3d00)     bool [setModelState](classGazeboROSNode.html#ac4af722aa708173354b6aa935fcf3d00)([gazebo_msgs::SetModelState::Request](../../gazebo_msgs/html/structgazebo__msgs_1_1SetModelStateRequest__.html) &req,[gazebo_msgs::SetModelState::Response](../../gazebo_msgs/html/structgazebo__msgs_1_1SetModelStateResponse__.html) &res)
    01350     {
    01351       gazebo::Vector3 target_pos(req.[model_state](../../gazebo_msgs/html/structgazebo__msgs_1_1SetModelStateRequest__.html#a6a20bccbfd561c02ae793bd41a6742e5).[pose](../../gazebo_msgs/html/structgazebo__msgs_1_1ModelState__.html#a0471a1e8fef12b2311405ab099c16311).[position](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html#a27067d1772d85a856b0e4ed4690a80b4).[x](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Point__.html#acd9420e6916084b2a9c09019bfda1708),req.[model_state](../../gazebo_msgs/html/structgazebo__msgs_1_1SetModelStateRequest__.html#a6a20bccbfd561c02ae793bd41a6742e5).[pose](../../gazebo_msgs/html/structgazebo__msgs_1_1ModelState__.html#a0471a1e8fef12b2311405ab099c16311).[position](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html#a27067d1772d85a856b0e4ed4690a80b4).[y](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Point__.html#a46a84ff5a3e5817ab5693abda66fccb0),req.[model_state](../../gazebo_msgs/html/structgazebo__msgs_1_1SetModelStateRequest__.html#a6a20bccbfd561c02ae793bd41a6742e5).[pose](../../gazebo_msgs/html/structgazebo__msgs_1_1ModelState__.html#a0471a1e8fef12b2311405ab099c16311).[position](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html#a27067d1772d85a856b0e4ed4690a80b4).[z](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Point__.html#a061f0093e927a95998f35ceceb5cebda));
    01352       gazebo::Quatern target_rot(req.[model_state](../../gazebo_msgs/html/structgazebo__msgs_1_1SetModelStateRequest__.html#a6a20bccbfd561c02ae793bd41a6742e5).[pose](../../gazebo_msgs/html/structgazebo__msgs_1_1ModelState__.html#a0471a1e8fef12b2311405ab099c16311).[orientation](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html#af8c1d34a44a7628ea9c3e571339f5a28).[w](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Quaternion__.html#a440791d268a65607ecbac21e0ed153cf),req.[model_state](../../gazebo_msgs/html/structgazebo__msgs_1_1SetModelStateRequest__.html#a6a20bccbfd561c02ae793bd41a6742e5).[pose](../../gazebo_msgs/html/structgazebo__msgs_1_1ModelState__.html#a0471a1e8fef12b2311405ab099c16311).[orientation](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html#af8c1d34a44a7628ea9c3e571339f5a28).[x](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Quaternion__.html#a11f3b4e2df587ce516fd2a8140c1c7c5),req.[model_state](../../gazebo_msgs/html/structgazebo__msgs_1_1SetModelStateRequest__.html#a6a20bccbfd561c02ae793bd41a6742e5).[pose](../../gazebo_msgs/html/structgazebo__msgs_1_1ModelState__.html#a0471a1e8fef12b2311405ab099c16311).[orientation](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html#af8c1d34a44a7628ea9c3e571339f5a28).[y](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Quaternion__.html#a601c978178311ce3a618afb38c0b6b98),req.[model_state](../../gazebo_msgs/html/structgazebo__msgs_1_1SetModelStateRequest__.html#a6a20bccbfd561c02ae793bd41a6742e5).[pose](../../gazebo_msgs/html/structgazebo__msgs_1_1ModelState__.html#a0471a1e8fef12b2311405ab099c16311).[orientation](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Pose__.html#af8c1d34a44a7628ea9c3e571339f5a28).[z](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Quaternion__.html#ae2caceb9fc4b2fd01acd8419aa7ebc2e));
    01353       gazebo::Pose3d target_pose(target_pos,target_rot);
    01354       gazebo::Vector3 target_pos_dot(req.[model_state](../../gazebo_msgs/html/structgazebo__msgs_1_1SetModelStateRequest__.html#a6a20bccbfd561c02ae793bd41a6742e5).[twist](../../gazebo_msgs/html/structgazebo__msgs_1_1ModelState__.html#a37dfdabcf8573e879e920543b33a7975).[linear](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Twist__.html#a394500332ac20028528c37103e1bf8e5).[x](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Vector3__.html#abf9dabaf651196aee50fd14bf3b643be),req.[model_state](../../gazebo_msgs/html/structgazebo__msgs_1_1SetModelStateRequest__.html#a6a20bccbfd561c02ae793bd41a6742e5).[twist](../../gazebo_msgs/html/structgazebo__msgs_1_1ModelState__.html#a37dfdabcf8573e879e920543b33a7975).[linear](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Twist__.html#a394500332ac20028528c37103e1bf8e5).[y](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Vector3__.html#aaea58ad929c43960a06f728d97132404),req.[model_state](../../gazebo_msgs/html/structgazebo__msgs_1_1SetModelStateRequest__.html#a6a20bccbfd561c02ae793bd41a6742e5).[twist](../../gazebo_msgs/html/structgazebo__msgs_1_1ModelState__.html#a37dfdabcf8573e879e920543b33a7975).[linear](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Twist__.html#a394500332ac20028528c37103e1bf8e5).[z](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Vector3__.html#a4cde719326e6c3688ab50b51ab4708b1));
    01355       gazebo::Vector3 target_rot_dot(req.[model_state](../../gazebo_msgs/html/structgazebo__msgs_1_1SetModelStateRequest__.html#a6a20bccbfd561c02ae793bd41a6742e5).[twist](../../gazebo_msgs/html/structgazebo__msgs_1_1ModelState__.html#a37dfdabcf8573e879e920543b33a7975).[angular](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Twist__.html#aa0cb518e509179290aa793228ef01f6b).[x](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Vector3__.html#abf9dabaf651196aee50fd14bf3b643be),req.[model_state](../../gazebo_msgs/html/structgazebo__msgs_1_1SetModelStateRequest__.html#a6a20bccbfd561c02ae793bd41a6742e5).[twist](../../gazebo_msgs/html/structgazebo__msgs_1_1ModelState__.html#a37dfdabcf8573e879e920543b33a7975).[angular](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Twist__.html#aa0cb518e509179290aa793228ef01f6b).[y](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Vector3__.html#aaea58ad929c43960a06f728d97132404),req.[model_state](../../gazebo_msgs/html/structgazebo__msgs_1_1SetModelStateRequest__.html#a6a20bccbfd561c02ae793bd41a6742e5).[twist](../../gazebo_msgs/html/structgazebo__msgs_1_1ModelState__.html#a37dfdabcf8573e879e920543b33a7975).[angular](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Twist__.html#aa0cb518e509179290aa793228ef01f6b).[z](../../../api/geometry_msgs/html/structgeometry__msgs_1_1Vector3__.html#a4cde719326e6c3688ab50b51ab4708b1));
    01356 
    01357       gazebo::Model* model = dynamic_cast<gazebo::Model*>(gazebo::World::Instance()->GetEntityByName(req.[model_state](../../gazebo_msgs/html/structgazebo__msgs_1_1SetModelStateRequest__.html#a6a20bccbfd561c02ae793bd41a6742e5).[model_name](../../gazebo_msgs/html/structgazebo__msgs_1_1ModelState__.html#acddb4cc1ba3d29b97db1141f78c454f0)));
    01358       if (!model)
    01359       {
    01360         [ROS_ERROR](../../../api/rosconsole/html/macros__generated_8h.html#a7fb635b03cc608284eadecd2f8becd9a)("SetModelState: model [%s] does not exist",req.[model_state](../../gazebo_msgs/html/structgazebo__msgs_1_1SetModelStateRequest__.html#a6a20bccbfd561c02ae793bd41a6742e5).[model_name](../../gazebo_msgs/html/structgazebo__msgs_1_1ModelState__.html#acddb4cc1ba3d29b97db1141f78c454f0).c_str());
    01361         res.[success](../../gazebo_msgs/html/structgazebo__msgs_1_1SetModelStateResponse__.html#acca9802bb129cd425a0eeb458fac040e) = false;
    01362         res.[status_message](../../gazebo_msgs/html/structgazebo__msgs_1_1SetModelStateResponse__.html#abe59335014d06188f09f6ef2f91447cb) = "SetModelState: model does not exist";
    01363         return false;
    01364       }
    01365       else
    01366       {