##

WheelSlipPlugin.hh
Go to the documentation of this file.
/*
* Copyright (C) 2018 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_WHEELSLIPPLUGIN_HH_
#define GAZEBO_PLUGINS_WHEELSLIPPLUGIN_HH_
#include <map>
#include <memory>
#include <string>
#include <ignition/math/Vector3.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/util/system.hh>
namespace gazebo
{
// Forward declare private data class
class WheelSlipPluginPrivate;
class GAZEBO_VISIBLE WheelSlipPlugin : public ModelPlugin
{
public: WheelSlipPlugin();
public: virtual ~WheelSlipPlugin();
// Documentation inherited
public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
// Documentation inherited
public: virtual void Fini();
public: physics::ModelPtr GetParentModel() const;
public: void GetSlips(std::map<std::string, ignition::math::Vector3d> &_out)
const;
public: void SetSlipComplianceLateral(const double _compliance);
public: void SetSlipComplianceLongitudinal(const double _compliance);
private: void OnLateralCompliance(ConstGzStringPtr &_msg);
private: void OnLongitudinalCompliance(ConstGzStringPtr &_msg);
private: void Update();
private: std::unique_ptr<WheelSlipPluginPrivate> 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
system.hh
gazebo::WheelSlipPlugin
A plugin that updates ODE wheel slip parameters based on linear wheel spin velocity (radius * spin ra...
Definition: WheelSlipPlugin.hh:102
gazebo::ModelPlugin
A plugin with access to physics::Model.
Definition: Plugin.hh:303
Plugin.hh
GAZEBO_VISIBLE
#define GAZEBO_VISIBLE
Definition: system.hh:59