17#ifndef GAZEBO_PLUGINS_GRAVITYCOMPENSATIONPLUGIN_HH_
18#define GAZEBO_PLUGINS_GRAVITYCOMPENSATIONPLUGIN_HH_
24#include <dart/common/LocalResourceRetriever.hpp>
34 class GravityCompensationPluginPrivate;
37 public virtual dart::common::LocalResourceRetriever
43 public:
bool exists(
const dart::common::Uri &_uri)
override;
47 const dart::common::Uri &_uri)
override;
50 private: dart::common::Uri resolve(
const dart::common::Uri &_uri);
72 private:
void OnPhysicsMsg(ConstPhysicsPtr &_msg);
76 private: std::unique_ptr<GravityCompensationPluginPrivate> dataPtr;
Forward declarations for transport.
Plugin that provides gravity compensation.
Definition GravityCompensationPlugin.hh:56
~GravityCompensationPlugin()
Destructor.
GravityCompensationPlugin()
Constructor.
virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
Init the DART skeleton used to calculate gravity compensation.
A plugin with access to physics::Model.
Definition Plugin.hh:304
Definition GravityCompensationPlugin.hh:38
dart::common::ResourcePtr retrieve(const dart::common::Uri &_uri) override
Documentation inherited.
bool exists(const dart::common::Uri &_uri) override
Documentation inherited.
virtual ~ModelResourceRetriever()=default
Destructor.
Information for use in an update event.
Definition UpdateInfo.hh:31
boost::shared_ptr< Model > ModelPtr
Definition PhysicsTypes.hh:93
Forward declarations for the common classes.
Definition Animation.hh:27
std::shared_ptr< ModelResourceRetriever > ModelResourceRetrieverPtr
Definition GravityCompensationPlugin.hh:52