CessnaPlugin.hh
Go to the documentation of this file.
1/*
2 * Copyright (C) 2015 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
18#ifndef GAZEBO_PLUGINS_CESSNAPLUGIN_HH_
19#define GAZEBO_PLUGINS_CESSNAPLUGIN_HH_
20
21#include <array>
22#include <mutex>
23#include <string>
24#include <sdf/sdf.hh>
25#include <ignition/transport/Node.hh>
26#include <gazebo/common/PID.hh>
29#include <gazebo/msgs/msgs.hh>
32
33namespace gazebo
34{
64 class GZ_PLUGIN_VISIBLE CessnaPlugin : public ModelPlugin
65 {
67 public: CessnaPlugin();
68
70 public: ~CessnaPlugin();
71
72 // Documentation Inherited.
73 public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
74
82 private: bool FindJoint(const std::string &_sdfParam,
83 sdf::ElementPtr _sdf, physics::JointPtr &_joint);
84
87 private: void Update(const common::UpdateInfo &_info);
88
92 private: void OnControl(ConstCessnaPtr &_msg);
93
96 private: void UpdatePIDs(double _dt);
97
99 private: void PublishState();
100
102 private: static const unsigned int kLeftAileron = 0;
103 private: static const unsigned int kLeftFlap = 1;
104 private: static const unsigned int kRightAileron = 2;
105 private: static const unsigned int kRightFlap = 3;
106 private: static const unsigned int kElevators = 4;
107 private: static const unsigned int kRudder = 5;
108 private: static const unsigned int kPropeller = 6;
109
111 private: event::ConnectionPtr updateConnection;
112
114 private: transport::NodePtr node;
115
117 private: transport::SubscriberPtr controlSub;
118
120 private: transport::PublisherPtr statePub;
121
123 private: physics::ModelPtr model;
124
126 private: std::array<physics::JointPtr, 7> joints;
127
129 private: int32_t propellerMaxRpm = 2500;
130
132 private: std::array<float, 7> cmds;
133
135 private: common::PID propellerPID;
136
138 private: std::array<common::PID, 6> controlSurfacesPID;
139
141 private: gazebo::common::Time lastControllerUpdateTime;
142
144 private: std::mutex mutex;
145
146 // Place ignition::transport objects at the end of this file to
147 // guarantee they are destructed first.
148
150 private: ignition::transport::Node nodeIgn;
151
153 private: ignition::transport::Node::Publisher statePubIgn;
154 };
155}
156#endif
default namespace for gazebo
Forward declarations for transport.
Allow moving the control surfaces of a Cessna C-172 plane.
Definition CessnaPlugin.hh:65
CessnaPlugin()
Constructor.
~CessnaPlugin()
Destructor.
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
Information for use in an update event.
Definition UpdateInfo.hh:31
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< Subscriber > SubscriberPtr
Definition TransportTypes.hh:53
boost::shared_ptr< Publisher > PublisherPtr
Definition TransportTypes.hh:49
boost::shared_ptr< Node > NodePtr
Definition TransportTypes.hh:57
Forward declarations for the common classes.
Definition Animation.hh:27