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MudPlugin.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_MUDPLUGIN_HH_
#define GAZEBO_PLUGINS_MUDPLUGIN_HH_
#include <mutex>
#include <string>
#include <vector>
#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"
namespace gazebo
{
class GAZEBO_VISIBLE MudPlugin : public ModelPlugin
{
public: MudPlugin();
// Documentation Inherited.
public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
// Documentation Inherited.
public: virtual void Init();
private: void OnContact(ConstContactsPtr &_msg);
private: void OnUpdate();
private: transport::NodePtr node;
private: transport::SubscriberPtr contactSub;
private: event::ConnectionPtr updateConnection;
private: physics::WorldPtr world;
private: physics::PhysicsEnginePtr physics;
private: physics::ModelPtr model;
private: std::string modelName;
private: physics::LinkPtr link;
private: std::string contactSensorName;
private: mutable std::mutex mutex;
private: msgs::Contacts newestContactsMsg;
private: bool newMsg;
private: unsigned int newMsgWait;
private: double stiffness;
private: double damping;
private: std::vector<std::string> allowedLinks;
private: std::vector<physics::LinkPtr> links;
private: std::vector<physics::JointPtr> joints;
private: unsigned int contactSurfaceBitmask;
private: sdf::ElementPtr sdf;
// Place ignition::transport objects at the end of this file to
// guarantee they are destructed first.
private: ignition::transport::Node nodeIgn;
};
}
#endif // ifndef _MUD_PLUGIN_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::transport::SubscriberPtr
boost::shared_ptr< Subscriber > SubscriberPtr
Definition: TransportTypes.hh:53
gazebo::transport::NodePtr
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
gazebo::MudPlugin
Definition: MudPlugin.hh:32
gazebo::event::ConnectionPtr
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
gazebo::msgs::Init
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
gazebo::physics::LinkPtr
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
gazebo::physics::PhysicsEnginePtr
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition: PhysicsTypes.hh:125
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_VISIBLE
#define GAZEBO_VISIBLE
Definition: system.hh:59