ActorPlugin.hh
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1/*
2 * Copyright (C) 2016 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_ACTORPLUGIN_HH_
19#define GAZEBO_PLUGINS_ACTORPLUGIN_HH_
20
21#include <string>
22#include <vector>
23
25#include "gazebo/physics/physics.hh"
26#include "gazebo/util/system.hh"
27
28namespace gazebo
29{
30 class GZ_PLUGIN_VISIBLE ActorPlugin : public ModelPlugin
31 {
33 public: ActorPlugin();
34
38 public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
39
40 // Documentation Inherited.
41 public: virtual void Reset();
42
45 private: void OnUpdate(const common::UpdateInfo &_info);
46
48 private: void ChooseNewTarget();
49
54 private: void HandleObstacles(ignition::math::Vector3d &_pos);
55
57 private: physics::ActorPtr actor;
58
60 private: physics::WorldPtr world;
61
63 private: sdf::ElementPtr sdf;
64
66 private: ignition::math::Vector3d velocity;
67
69 private: std::vector<event::ConnectionPtr> connections;
70
72 private: ignition::math::Vector3d target;
73
75 private: double targetWeight = 1.0;
76
78 private: double obstacleWeight = 1.0;
79
82 private: double animationFactor = 1.0;
83
85 private: common::Time lastUpdate;
86
88 private: std::vector<std::string> ignoreModels;
89
91 private: physics::TrajectoryInfoPtr trajectoryInfo;
92 };
93}
94#endif
Definition ActorPlugin.hh:31
ActorPlugin()
Constructor.
virtual void Reset()
Override this method for custom plugin reset behavior.
virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
Load the actor plugin.
A plugin with access to physics::Model.
Definition Plugin.hh:304
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< Actor > ActorPtr
Definition PhysicsTypes.hh:97
std::shared_ptr< TrajectoryInfo > TrajectoryInfoPtr
Definition PhysicsTypes.hh:101
boost::shared_ptr< World > WorldPtr
Definition PhysicsTypes.hh:89
boost::shared_ptr< Model > ModelPtr
Definition PhysicsTypes.hh:93
Forward declarations for the common classes.
Definition Animation.hh:27