DiffDrivePlugin.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17#ifndef GAZEBO_PLUGINS_DIFFDRIVEPLUGIN_HH_
18#define GAZEBO_PLUGINS_DIFFDRIVEPLUGIN_HH_
19#include <ignition/transport/Node.hh>
20
22#include "gazebo/physics/physics.hh"
24#include "gazebo/gazebo.hh"
25#include "gazebo/util/system.hh"
26
27namespace gazebo
28{
29 class GZ_PLUGIN_VISIBLE DiffDrivePlugin : public ModelPlugin
30 {
31 public: DiffDrivePlugin();
32 public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
33 public: virtual void Init();
34
35 private: void OnUpdate();
36
37 private: void OnVelMsg(ConstPosePtr &_msg);
38
39 private: transport::NodePtr node;
40 private: transport::SubscriberPtr velSub;
41
42 private: physics::ModelPtr model;
43 private: physics::JointPtr leftJoint, rightJoint;
44 private: event::ConnectionPtr updateConnection;
45 private: double wheelSpeed[2];
46 private: double wheelSeparation;
47 private: double wheelRadius;
48 private: common::Time prevUpdateTime;
49
50 private: physics::LinkPtr link, leftWheelLink, rightWheelLink;
51
52 // Place ignition::transport objects at the end of this file to
53 // guarantee they are destructed first.
54
56 private: ignition::transport::Node nodeIgn;
57 };
58}
59#endif
Forward declarations for transport.
Definition DiffDrivePlugin.hh:30
virtual void Init()
Override this method for custom plugin initialization behavior.
virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
Load function.
A plugin with access to physics::Model.
Definition Plugin.hh:304
A Time class, can be used to hold wall- or sim-time.
Definition Time.hh:48
boost::shared_ptr< Connection > ConnectionPtr
Definition CommonTypes.hh:134
boost::shared_ptr< Link > LinkPtr
Definition PhysicsTypes.hh:109
boost::shared_ptr< Model > ModelPtr
Definition PhysicsTypes.hh:93
boost::shared_ptr< Joint > JointPtr
Definition PhysicsTypes.hh:117
boost::shared_ptr< Subscriber > SubscriberPtr
Definition TransportTypes.hh:53
boost::shared_ptr< Node > NodePtr
Definition TransportTypes.hh:57
Forward declarations for the common classes.
Definition Animation.hh:27