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ActorPlugin.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_ACTORPLUGIN_HH_
#define GAZEBO_PLUGINS_ACTORPLUGIN_HH_
#include <string>
#include <vector>
#include "gazebo/common/Plugin.hh"
#include "gazebo/physics/physics.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
class GAZEBO_VISIBLE ActorPlugin : public ModelPlugin
{
public: ActorPlugin();
public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
// Documentation Inherited.
public: virtual void Reset();
private: void OnUpdate(const common::UpdateInfo &_info);
private: void ChooseNewTarget();
private: void HandleObstacles(ignition::math::Vector3d &_pos);
private: physics::ActorPtr actor;
private: physics::WorldPtr world;
private: sdf::ElementPtr sdf;
private: ignition::math::Vector3d velocity;
private: std::vector<event::ConnectionPtr> connections;
private: ignition::math::Vector3d target;
private: double targetWeight = 1.0;
private: double obstacleWeight = 1.0;
private: double animationFactor = 1.0;
private: common::Time lastUpdate;
private: std::vector<std::string> ignoreModels;
private: physics::TrajectoryInfoPtr trajectoryInfo;
};
}
#endif
gazebo::physics::ActorPtr
boost::shared_ptr< Actor > ActorPtr
Definition: PhysicsTypes.hh:97
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::common::Time
A Time class, can be used to hold wall- or sim-time. stored as sec and nano-sec.
Definition: Time.hh:47
gazebo::physics::ModelPtr
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
system.hh
gazebo::physics::TrajectoryInfoPtr
std::shared_ptr< TrajectoryInfo > TrajectoryInfoPtr
Definition: PhysicsTypes.hh:101
gazebo::ActorPlugin
Definition: ActorPlugin.hh:30
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