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HarnessPlugin.hh
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/*
* Copyright (C) 2016 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_HARNESSPLUGIN_HH_
#define GAZEBO_PLUGINS_HARNESSPLUGIN_HH_
#include <memory>
#include <string>
#include <vector>
#include "gazebo/common/Plugin.hh"
namespace gazebo
{
// Forward declare private data class
class HarnessPluginPrivate;
class GAZEBO_VISIBLE HarnessPlugin : public ModelPlugin
{
public: HarnessPlugin();
public: virtual ~HarnessPlugin();
// Documentation Inherited.
public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
// Documentation Inherited.
public: virtual void Init();
public: void SetWinchVelocity(const float _value);
public: double WinchVelocity() const;
public: void Attach(const ignition::math::Pose3d &_pose);
public: void Detach();
private: void Attach();
private: void OnUpdate(const common::UpdateInfo &_info);
private: void OnVelocity(ConstGzStringPtr &_msg);
private: void OnAttach(ConstPosePtr &_msg);
private: void OnDetach(ConstGzStringPtr &_msg);
private: int JointIndex(const std::string &_name) const;
private: std::unique_ptr<HarnessPluginPrivate> dataPtr;
};
}
#endif
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::ModelPtr
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
gazebo::HarnessPlugin
This plugin is designed to lower a model at a controlled rate.
Definition: HarnessPlugin.hh:58
gazebo::msgs::Init
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
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