VehiclePlugin.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
18#ifndef GAZEBO_PLUGINS_VEHICLEPLUGIN_HH_
19#define GAZEBO_PLUGINS_VEHICLEPLUGIN_HH_
20
21#include <string>
22#include <vector>
23
24#include <ignition/transport/Node.hh>
25#include <ignition/math/Vector3.hh>
26
28#include "gazebo/physics/physics.hh"
29#include "gazebo/transport/transport.hh"
30#include "gazebo/util/system.hh"
31
32namespace gazebo
33{
34 class GZ_PLUGIN_VISIBLE VehiclePlugin : public ModelPlugin
35 {
37 public: VehiclePlugin();
38
39 public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
40 public: virtual void Init();
41
42 private: void OnUpdate();
43
44 private: void OnVelMsg(ConstPosePtr &_msg);
45
46 private: std::vector<event::ConnectionPtr> connections;
47
48 private: physics::ModelPtr model;
49 private: physics::LinkPtr chassis;
50 private: std::vector<physics::JointPtr> joints;
51 private: physics::JointPtr gasJoint, brakeJoint;
52 private: physics::JointPtr steeringJoint;
53
54 private: ignition::math::Vector3d velocity;
55
56 private: transport::NodePtr node;
57 private: transport::SubscriberPtr velSub;
58
59 private: double frontPower, rearPower;
60 private: double maxSpeed;
61 private: double wheelRadius;
62
63 private: double steeringRatio;
64 private: double tireAngleRange;
65 private: double maxGas, maxBrake;
66
67 private: double aeroLoad;
68 private: double swayForce;
69
70 // Place ignition::transport objects at the end of this file to
71 // guarantee they are destructed first.
72
74 private: ignition::transport::Node nodeIgn;
75 };
76}
77#endif
A plugin with access to physics::Model.
Definition Plugin.hh:304
Definition VehiclePlugin.hh:35
virtual void Init()
Override this method for custom plugin initialization behavior.
virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
Load function.
VehiclePlugin()
Constructor.
boost::shared_ptr< Link > LinkPtr
Definition PhysicsTypes.hh:109
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< Node > NodePtr
Definition TransportTypes.hh:57
Forward declarations for the common classes.
Definition Animation.hh:27