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SphereAtlasDemoPlugin.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_SPHEREATLASDEMOPLUGIN_HH_
#define GAZEBO_PLUGINS_SPHEREATLASDEMOPLUGIN_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 SphereAtlasDemoPlugin : public ModelPlugin
{
public: SphereAtlasDemoPlugin();
public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
public: virtual void Init();
public: virtual void Reset();
private: void OnUpdate();
private: event::ConnectionPtr updateConnection;
private: physics::ModelPtr model;
private: std::vector<std::string> jointNames;
private: physics::Joint_V joints;
private: common::Time prevUpdateTime;
private: std::vector<double> qp;
private: std::vector<double> jointKp;
private: std::vector<double> jointKd;
};
}
#endif
gazebo::physics::Joint_V
std::vector< JointPtr > Joint_V
Definition: PhysicsTypes.hh:213
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::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::SphereAtlasDemoPlugin
Definition: SphereAtlasDemoPlugin.hh:29
gazebo::ModelPlugin
A plugin with access to physics::Model.
Definition: Plugin.hh:303
Plugin.hh
GAZEBO_VISIBLE
#define GAZEBO_VISIBLE
Definition: system.hh:59