FollowerPlugin.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_FOLLOWERPLUGIN_HH_
19#define GAZEBO_PLUGINS_FOLLOWERPLUGIN_HH_
20
21#include <memory>
22#include <string>
23
24#include <sdf/sdf.hh>
25
28
29namespace gazebo
30{
31 // Forward declare private class
32 struct FollowerPluginPrivate;
33
38 class GZ_PLUGIN_VISIBLE FollowerPlugin : public ModelPlugin
39 {
41 public: FollowerPlugin();
42
44 public: ~FollowerPlugin();
45
46 // Documentation Inherited.
47 public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
48
49 // Documentation Inherited.
50 public: virtual void Init();
51
52 // Documentation Unherited.
53 public: virtual void Reset();
54
61 private: void OnNewDepthFrame(const float *_image,
62 const unsigned int _width, const unsigned int _height,
63 const unsigned int _depth, const std::string &_format);
64
66 private: void OnUpdate();
67
71 private: bool FindSensor(const physics::ModelPtr &_model);
72
74 private: void FindJoints();
75
77 private: void UpdateFollower();
78
80 private: std::unique_ptr<FollowerPluginPrivate> dataPtr;
81 };
82}
83#endif
default namespace for gazebo
A simple object follower that finds the closest object in a depth image and commands a differential d...
Definition FollowerPlugin.hh:39
~FollowerPlugin()
Destructor.
virtual void Init()
Override this method for custom plugin initialization behavior.
virtual void Reset()
Override this method for custom plugin reset behavior.
FollowerPlugin()
Constructor.
virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
Load function.
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