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RubblePlugin.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_RUBBLEPLUGIN_HH_
#define GAZEBO_PLUGINS_RUBBLEPLUGIN_HH_
#include <string>
#include <vector>
#include <ignition/math/Pose3.hh>
#include <gazebo/common/Plugin.hh>
#include "gazebo/util/system.hh"
namespace gazebo
{
class GAZEBO_VISIBLE RubblePlugin : public WorldPlugin
{
public: RubblePlugin();
public: virtual void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf);
public: virtual void Init();
private: void MakeBox(const std::string &_name,
ignition::math::Pose3d &_pose,
ignition::math::Vector3d &_size,
const double _mass);
private: void MakeCinderBlock(const std::string &_name,
ignition::math::Pose3d &_pose,
ignition::math::Vector3d &_size,
const double _mass);
// private: void MakeCylinder(const std::string &_name,
// ignition::math::Vector3d &_pos,
// ignition::math::Vector3d &_size, double _mass);
private: class Obj
{
public: ignition::math::Pose3d pose;
public: ignition::math::Vector3d size;
public: int type;
};
private: class CompoundObj
{
// center position
public: ignition::math::Vector3d pos;
// Total size
public: ignition::math::Vector3d size;
public: std::vector<Obj> objects;
};
// private: void MakeCompound(const std::string &_name, CompoundObj &_obj);
private: physics::WorldPtr world;
};
}
#endif
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
system.hh
gazebo::WorldPlugin
A plugin with access to physics::World. See reference.
Definition: Plugin.hh:278
gazebo::msgs::Init
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
gazebo::RubblePlugin
Definition: RubblePlugin.hh:31
gazebo::physics::WorldPtr
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
Plugin.hh
GAZEBO_VISIBLE
#define GAZEBO_VISIBLE
Definition: system.hh:59