18#ifndef GAZEBO_PLUGINS_ACTORPLUGIN_HH_
19#define GAZEBO_PLUGINS_ACTORPLUGIN_HH_
25#include "gazebo/physics/physics.hh"
48 private:
void ChooseNewTarget();
54 private:
void HandleObstacles(ignition::math::Vector3d &_pos);
63 private: sdf::ElementPtr sdf;
66 private: ignition::math::Vector3d velocity;
69 private: std::vector<event::ConnectionPtr> connections;
72 private: ignition::math::Vector3d target;
75 private:
double targetWeight = 1.0;
78 private:
double obstacleWeight = 1.0;
82 private:
double animationFactor = 1.0;
88 private: std::vector<std::string> ignoreModels;
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