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SkidSteerDrivePlugin.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_SKIDSTEERDRIVEPLUGIN_HH_
#define GAZEBO_PLUGINS_SKIDSTEERDRIVEPLUGIN_HH_
#include <string>
#include <ignition/transport/Node.hh>
#include "gazebo/common/Plugin.hh"
#include "gazebo/physics/physics.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/util/system.hh"
#define NUMBER_OF_WHEELS 4
namespace gazebo
{
// \class SkidSteerDrivePlugin SkidSteerDrivePlugin.hh
class GAZEBO_VISIBLE SkidSteerDrivePlugin : public ModelPlugin
{
public: SkidSteerDrivePlugin();
public: void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
public: enum {RIGHT_FRONT, RIGHT_REAR, LEFT_FRONT, LEFT_REAR};
private: int RegisterJoint(int _index, const std::string &_name);
private: void OnVelMsg(ConstPosePtr &_msg);
private: transport::NodePtr node;
private: transport::SubscriberPtr velSub;
private: physics::ModelPtr model;
private: physics::JointPtr joints[NUMBER_OF_WHEELS];
private: double wheelSeparation;
private: double wheelRadius;
// 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
TransportTypes.hh
Forward declarations for transport.
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
NUMBER_OF_WHEELS
#define NUMBER_OF_WHEELS
Definition: SkidSteerDrivePlugin.hh:28
gazebo::SkidSteerDrivePlugin
A gazebo model plugin that controls a four wheel skid-steer robot via a gazebo topic.
Definition: SkidSteerDrivePlugin.hh:36
gazebo::physics::JointPtr
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:117
gazebo::SkidSteerDrivePlugin::RIGHT_REAR
Definition: SkidSteerDrivePlugin.hh:47
gazebo::ModelPlugin
A plugin with access to physics::Model.
Definition: Plugin.hh:303
Plugin.hh
GAZEBO_VISIBLE
#define GAZEBO_VISIBLE
Definition: system.hh:59