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CartDemoPlugin.hh
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/*
* Copyright (C) 2012 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_CARTDEMOPLUGIN_HH_
#define GAZEBO_PLUGINS_CARTDEMOPLUGIN_HH_
#include <ignition/transport/Node.hh>
#include "gazebo/common/PID.hh"
#include "gazebo/common/Plugin.hh"
#include "gazebo/physics/physics.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/util/system.hh"
#define NUM_JOINTS 3
namespace gazebo
{
class GAZEBO_VISIBLE CartDemoPlugin : public ModelPlugin
{
public: CartDemoPlugin();
public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
public: virtual void Init();
private: void OnUpdate();
private: transport::NodePtr node;
private: event::ConnectionPtr updateConnection;
private: physics::ModelPtr model;
private: physics::JointPtr joints[NUM_JOINTS];
private: common::PID jointPIDs[NUM_JOINTS];
private: double jointPositions[NUM_JOINTS];
private: double jointVelocities[NUM_JOINTS];
private: double jointMaxEfforts[NUM_JOINTS];
private: common::Time prevUpdateTime;
// Place ignition::transport objects at the end of this file to
// guarantee they are destructed first.
private: ignition::transport::Node nodeIgn;
};
}
#endif
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::common::Time
A Time class, can be used to hold wall- or sim-time. stored as sec and nano-sec.
Definition: Time.hh:47
gazebo::physics::ModelPtr
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
TransportTypes.hh
Forward declarations for transport.
system.hh
gazebo::transport::NodePtr
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
NUM_JOINTS
#define NUM_JOINTS
Definition: CartDemoPlugin.hh:27
gazebo::common::PID
Generic PID controller class. Generic proportiolnal-integral-derivative controller class that keeps t...
Definition: PID.hh:36
gazebo::event::ConnectionPtr
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
gazebo::msgs::Init
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
gazebo::CartDemoPlugin
This plugin drives a four wheeled cart model forward and back by applying a small wheel torque.
Definition: CartDemoPlugin.hh:36
gazebo::physics::JointPtr
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:117
gazebo::ModelPlugin
A plugin with access to physics::Model.
Definition: Plugin.hh:303
Plugin.hh
PID.hh
GAZEBO_VISIBLE
#define GAZEBO_VISIBLE
Definition: system.hh:59