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GravityCompensationPlugin.hh
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/*
* Copyright (C) 2017 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_GRAVITYCOMPENSATIONPLUGIN_HH_
#define GAZEBO_PLUGINS_GRAVITYCOMPENSATIONPLUGIN_HH_
#include <memory>
#include <sdf/sdf.hh>
#include <dart/common/LocalResourceRetriever.hpp>
#include <gazebo/transport/TransportTypes.hh>
#include <gazebo/common/UpdateInfo.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/util/system.hh>
namespace gazebo
{
// Forward declare private data class.
class GravityCompensationPluginPrivate;
class GAZEBO_VISIBLE ModelResourceRetriever :
public virtual dart::common::LocalResourceRetriever
{
public: virtual ~ModelResourceRetriever() = default;
public: bool exists(const dart::common::Uri &_uri) override;
public: dart::common::ResourcePtr retrieve(
const dart::common::Uri &_uri) override;
private: dart::common::Uri resolve(const dart::common::Uri &_uri);
};
using ModelResourceRetrieverPtr = std::shared_ptr<ModelResourceRetriever>;
class GAZEBO_VISIBLE GravityCompensationPlugin : public ModelPlugin
{
public: GravityCompensationPlugin();
public: ~GravityCompensationPlugin();
public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
private: void Update(const common::UpdateInfo &_info);
private: void OnPhysicsMsg(ConstPhysicsPtr &_msg);
private: std::unique_ptr<GravityCompensationPluginPrivate> dataPtr;
};
}
#endif
UpdateInfo.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::GravityCompensationPlugin
Plugin that provides gravity compensation.
Definition: GravityCompensationPlugin.hh:55
gazebo::ModelResourceRetriever
Definition: GravityCompensationPlugin.hh:36
gazebo::ModelResourceRetrieverPtr
std::shared_ptr< ModelResourceRetriever > ModelResourceRetrieverPtr
Definition: GravityCompensationPlugin.hh:52
gazebo::ModelPlugin
A plugin with access to physics::Model.
Definition: Plugin.hh:303
Plugin.hh
gazebo::common::exists
bool exists(const std::string &_path)
Returns true if _path is a file or directory.
gazebo::common::UpdateInfo
Information for use in an update event.
Definition: UpdateInfo.hh:30
GAZEBO_VISIBLE
#define GAZEBO_VISIBLE
Definition: system.hh:59