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FollowerPlugin.hh
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/*
* Copyright (C) 2016 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef GAZEBO_PLUGINS_FOLLOWERPLUGIN_HH_
#define GAZEBO_PLUGINS_FOLLOWERPLUGIN_HH_
#include <memory>
#include <string>
#include <sdf/sdf.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/physics/PhysicsTypes.hh>
namespace gazebo
{
// Forward declare private class
struct FollowerPluginPrivate;
class GAZEBO_VISIBLE FollowerPlugin : public ModelPlugin
{
public: FollowerPlugin();
public: ~FollowerPlugin();
// Documentation Inherited.
public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
// Documentation Inherited.
public: virtual void Init();
// Documentation Unherited.
public: virtual void Reset();
private: void OnNewDepthFrame(const float *_image,
const unsigned int _width, const unsigned int _height,
const unsigned int _depth, const std::string &_format);
private: void OnUpdate();
private: bool FindSensor(const physics::ModelPtr &_model);
private: void FindJoints();
private: void UpdateFollower();
private: std::unique_ptr<FollowerPluginPrivate> dataPtr;
};
}
#endif
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::ModelPtr
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
PhysicsTypes.hh
default namespace for gazebo
gazebo::msgs::Init
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
gazebo::ModelPlugin
A plugin with access to physics::Model.
Definition: Plugin.hh:303
Plugin.hh
gazebo::FollowerPlugin
A simple object follower that finds the closest object in a depth image and commands a differential d...
Definition: FollowerPlugin.hh:38
GAZEBO_VISIBLE
#define GAZEBO_VISIBLE
Definition: system.hh:59