CartDemoPlugin.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_CARTDEMOPLUGIN_HH_
18#define GAZEBO_PLUGINS_CARTDEMOPLUGIN_HH_
19#include <ignition/transport/Node.hh>
20
21#include "gazebo/common/PID.hh"
23#include "gazebo/physics/physics.hh"
25#include "gazebo/util/system.hh"
26
27#define NUM_JOINTS 3
28
29namespace gazebo
30{
36 class GZ_PLUGIN_VISIBLE CartDemoPlugin : public ModelPlugin
37 {
38 public: CartDemoPlugin();
39 public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
40 public: virtual void Init();
41
42 private: void OnUpdate();
43
44 private: transport::NodePtr node;
45
46 private: event::ConnectionPtr updateConnection;
47
48 private: physics::ModelPtr model;
49
50 private: physics::JointPtr joints[NUM_JOINTS];
51 private: common::PID jointPIDs[NUM_JOINTS];
52 private: double jointPositions[NUM_JOINTS];
53 private: double jointVelocities[NUM_JOINTS];
54 private: double jointMaxEfforts[NUM_JOINTS];
55
56 private: common::Time prevUpdateTime;
57
58 // Place ignition::transport objects at the end of this file to
59 // guarantee they are destructed first.
60
62 private: ignition::transport::Node nodeIgn;
63 };
64}
65#endif
#define NUM_JOINTS
Definition CartDemoPlugin.hh:27
Forward declarations for transport.
This plugin drives a four wheeled cart model forward and back by applying a small wheel torque.
Definition CartDemoPlugin.hh:37
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
Generic PID controller class.
Definition PID.hh:37
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< Model > ModelPtr
Definition PhysicsTypes.hh:93
boost::shared_ptr< Joint > JointPtr
Definition PhysicsTypes.hh:117
boost::shared_ptr< Node > NodePtr
Definition TransportTypes.hh:57
Forward declarations for the common classes.
Definition Animation.hh:27