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JointTrajectoryPlugin.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_JOINTTRAJECTORYPLUGIN_HH_
#define GAZEBO_PLUGINS_JOINTTRAJECTORYPLUGIN_HH_
#include "gazebo/physics/physics.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/common/Time.hh"
#include "gazebo/common/Plugin.hh"
#include "gazebo/common/Events.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
class GAZEBO_VISIBLE JointTrajectoryPlugin : public ModelPlugin
{
public: JointTrajectoryPlugin();
public: virtual ~JointTrajectoryPlugin();
public: void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
private: void UpdateStates(const common::UpdateInfo &_info);
// This function is commented out because it is not used.
// private: void FixLink(physics::LinkPtr link);
// This function is commented out because it is not used.
// private: void UnfixLink();
private: physics::WorldPtr world;
private: physics::ModelPtr model;
private: physics::JointPtr joint;
// Pointer to the update event connection
private: event::ConnectionPtr updateConnection;
};
}
#endif
gazebo::JointTrajectoryPlugin
Definition: JointTrajectoryPlugin.hh:30
Time.hh
Events.hh
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::event::ConnectionPtr
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
gazebo::physics::JointPtr
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:117
gazebo::physics::WorldPtr
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
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