17#ifndef GAZEBO_PLUGINS_HARNESSPLUGIN_HH_
18#define GAZEBO_PLUGINS_HARNESSPLUGIN_HH_
29 class HarnessPluginPrivate;
70 public:
virtual void Init();
83 public:
void Attach(
const ignition::math::Pose3d &_pose);
91 private:
void Attach();
99 private:
void OnVelocity(ConstGzStringPtr &_msg);
103 private:
void OnAttach(ConstPosePtr &_msg);
107 private:
void OnDetach(ConstGzStringPtr &_msg);
112 private:
int JointIndex(
const std::string &_name)
const;
116 private: std::unique_ptr<HarnessPluginPrivate> dataPtr;
This plugin is designed to lower a model at a controlled rate.
Definition HarnessPlugin.hh:59
void Attach(const ignition::math::Pose3d &_pose)
Move the child link to the specified pose and recreate the harness joint.
virtual void Init()
Override this method for custom plugin initialization behavior.
HarnessPlugin()
Constructor.
void SetWinchVelocity(const float _value)
Set the target winch velocity.
double WinchVelocity() const
Get the current winch velocity.
virtual ~HarnessPlugin()
Destructor.
virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
Load function.
void Detach()
Detach the <detach> joint.
A plugin with access to physics::Model.
Definition Plugin.hh:304
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