##

VehiclePlugin.hh
Go to the documentation of this file.
/*
* 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_VEHICLEPLUGIN_HH_
#define GAZEBO_PLUGINS_VEHICLEPLUGIN_HH_
#include <string>
#include <vector>
#include <ignition/transport/Node.hh>
#include <ignition/math/Vector3.hh>
#include "gazebo/common/Plugin.hh"
#include "gazebo/physics/physics.hh"
#include "gazebo/transport/transport.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
class GAZEBO_VISIBLE VehiclePlugin : public ModelPlugin
{
public: VehiclePlugin();
public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
public: virtual void Init();
private: void OnUpdate();
private: void OnVelMsg(ConstPosePtr &_msg);
private: std::vector<event::ConnectionPtr> connections;
private: physics::ModelPtr model;
private: physics::LinkPtr chassis;
private: std::vector<physics::JointPtr> joints;
private: physics::JointPtr gasJoint, brakeJoint;
private: physics::JointPtr steeringJoint;
private: ignition::math::Vector3d velocity;
private: transport::NodePtr node;
private: transport::SubscriberPtr velSub;
private: double frontPower, rearPower;
private: double maxSpeed;
private: double wheelRadius;
private: double steeringRatio;
private: double tireAngleRange;
private: double maxGas, maxBrake;
private: double aeroLoad;
private: double swayForce;
// 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::physics::ModelPtr
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
system.hh
gazebo::transport::SubscriberPtr
boost::shared_ptr< Subscriber > SubscriberPtr
Definition: TransportTypes.hh:53
gazebo::transport::NodePtr
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
gazebo::VehiclePlugin
Definition: VehiclePlugin.hh:34
gazebo::msgs::Init
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
gazebo::physics::LinkPtr
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
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
GAZEBO_VISIBLE
#define GAZEBO_VISIBLE
Definition: system.hh:59