MudPlugin.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_MUDPLUGIN_HH_
18#define GAZEBO_PLUGINS_MUDPLUGIN_HH_
19
20#include <mutex>
21#include <string>
22#include <vector>
23#include <ignition/transport/Node.hh>
24
26#include "gazebo/physics/physics.hh"
28#include "gazebo/util/system.hh"
29
30namespace gazebo
31{
32 class GZ_PLUGIN_VISIBLE MudPlugin : public ModelPlugin
33 {
35 public: MudPlugin();
36
37 // Documentation Inherited.
38 public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
39
40 // Documentation Inherited.
41 public: virtual void Init();
42
45 private: void OnContact(ConstContactsPtr &_msg);
46
48 private: void OnUpdate();
49
51 private: transport::NodePtr node;
52
54 private: transport::SubscriberPtr contactSub;
55
57 private: event::ConnectionPtr updateConnection;
58
60 private: physics::WorldPtr world;
61
63 private: physics::PhysicsEnginePtr physics;
64
66 private: physics::ModelPtr model;
67
69 private: std::string modelName;
70
73 private: physics::LinkPtr link;
74
76 private: std::string contactSensorName;
77
79 private: mutable std::mutex mutex;
80
82 private: msgs::Contacts newestContactsMsg;
83
85 private: bool newMsg;
86
88 private: unsigned int newMsgWait;
89
92 private: double stiffness;
93
96 private: double damping;
97
99 private: std::vector<std::string> allowedLinks;
100
102 private: std::vector<physics::LinkPtr> links;
103
105 private: std::vector<physics::JointPtr> joints;
106
108 private: unsigned int contactSurfaceBitmask;
109
111 private: sdf::ElementPtr sdf;
112
113 // Place ignition::transport objects at the end of this file to
114 // guarantee they are destructed first.
115
118 private: ignition::transport::Node nodeIgn;
119 };
120}
121#endif // ifndef _MUD_PLUGIN_HH_
Forward declarations for transport.
A plugin with access to physics::Model.
Definition Plugin.hh:304
Definition MudPlugin.hh:33
virtual void Init()
Override this method for custom plugin initialization behavior.
MudPlugin()
Constructor.
virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
Load function.
boost::shared_ptr< Connection > ConnectionPtr
Definition CommonTypes.hh:134
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition PhysicsTypes.hh:125
boost::shared_ptr< Link > LinkPtr
Definition PhysicsTypes.hh:109
boost::shared_ptr< World > WorldPtr
Definition PhysicsTypes.hh:89
boost::shared_ptr< Model > ModelPtr
Definition PhysicsTypes.hh:93
boost::shared_ptr< Subscriber > SubscriberPtr
Definition TransportTypes.hh:53
boost::shared_ptr< Node > NodePtr
Definition TransportTypes.hh:57
Forward declarations for the common classes.
Definition Animation.hh:27