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RandomVelocityPlugin.hh
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/*
* Copyright (C) 2015 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_RANDOMVELOCITYPLUGIN_HH_
#define GAZEBO_PLUGINS_RANDOMVELOCITYPLUGIN_HH_
#include <memory>
#include <sdf/sdf.hh>
#include <gazebo/common/UpdateInfo.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/util/system.hh>
namespace gazebo
{
// Forward declare private data class.
class RandomVelocityPluginPrivate;
class GAZEBO_VISIBLE RandomVelocityPlugin : public ModelPlugin
{
public: RandomVelocityPlugin();
public: ~RandomVelocityPlugin();
// Documentation inherited
public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
// Documentation inherited
public: virtual void Reset();
private: void Update(const common::UpdateInfo &_info);
private: std::unique_ptr<RandomVelocityPluginPrivate> dataPtr;
};
}
#endif
UpdateInfo.hh
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::ModelPtr
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
gazebo::RandomVelocityPlugin
Plugin that applies a random velocity to a linke periodically.
Definition: RandomVelocityPlugin.hh:67
system.hh
gazebo::ModelPlugin
A plugin with access to physics::Model.
Definition: Plugin.hh:303
Plugin.hh
gazebo::common::UpdateInfo
Information for use in an update event.
Definition: UpdateInfo.hh:30
GAZEBO_VISIBLE
#define GAZEBO_VISIBLE
Definition: system.hh:59