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ArduCopterPlugin.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_ARDUCOPTERPLUGIN_HH_
#define GAZEBO_PLUGINS_ARDUCOPTERPLUGIN_HH_
#include <sdf/sdf.hh>
#include <gazebo/common/common.hh>
#include <gazebo/physics/physics.hh>
namespace gazebo
{
// Forward declare private data class
class ArduCopterPluginPrivate;
class GAZEBO_VISIBLE ArduCopterPlugin : public ModelPlugin
{
public: ArduCopterPlugin();
public: ~ArduCopterPlugin();
// Documentation Inherited.
public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
private: void OnUpdate();
private: void ApplyMotorForces(const double _dt);
private: void ResetPIDs();
private: void ReceiveMotorCommand();
private: void SendState() const;
private: std::unique_ptr<ArduCopterPluginPrivate> 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
gazebo::ArduCopterPlugin
Interface ArduCopter from ardupilot stack modeled after SITL/SIM_*.
Definition: ArduCopterPlugin.hh:48
gazebo::ModelPlugin
A plugin with access to physics::Model.
Definition: Plugin.hh:303
GAZEBO_VISIBLE
#define GAZEBO_VISIBLE
Definition: system.hh:59