17#ifndef GAZEBO_PLUGINS_ARDUCOPTERPLUGIN_HH_
18#define GAZEBO_PLUGINS_ARDUCOPTERPLUGIN_HH_
21#include <gazebo/common/common.hh>
22#include <gazebo/physics/physics.hh>
27 class ArduCopterPluginPrivate;
61 private:
void OnUpdate();
65 private:
void ApplyMotorForces(
const double _dt);
68 private:
void ResetPIDs();
71 private:
void ReceiveMotorCommand();
74 private:
void SendState()
const;
77 private: std::unique_ptr<ArduCopterPluginPrivate> dataPtr;
Interface ArduCopter from ardupilot stack modeled after SITL/SIM_*.
Definition ArduCopterPlugin.hh:49
ArduCopterPlugin()
Constructor.
virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
Load function.
~ArduCopterPlugin()
Destructor.
A plugin with access to physics::Model.
Definition Plugin.hh:304
boost::shared_ptr< Model > ModelPtr
Definition PhysicsTypes.hh:93
Forward declarations for the common classes.
Definition Animation.hh:27