KeysToCmdVelPlugin.hh
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1/*
2 * Copyright (C) 2018 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_KEYSTOCMDVELPLUGIN_HH_
19#define GAZEBO_PLUGINS_KEYSTOCMDVELPLUGIN_HH_
20
21#include <memory>
22#include <string>
23#include <vector>
24#include <ignition/transport/Node.hh>
25
28
29namespace gazebo
30{
31 class CmdVelKeyboardControls;
32 class KeysToCmdVelPluginPrivate;
33
68
69class GZ_PLUGIN_VISIBLE KeysToCmdVelPlugin : public ModelPlugin
70 {
73
76
77 // Documentation inherited
78 public: void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) override;
79
80 // Documentation inherited
81 public: void Init() override;
82
83 // Documentation inherited
84 public: void Reset() override;
85
88 protected: virtual void OnKeyPress(ConstAnyPtr &_msg);
89
92 private: std::unique_ptr<KeysToCmdVelPluginPrivate> dataPtr;
93 };
94}
95#endif
Send velocity commands to a model based on keypress messages received.
Definition KeysToCmdVelPlugin.hh:70
KeysToCmdVelPlugin()
Constructor.
void Init() override
Override this method for custom plugin initialization behavior.
void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) override
Load function.
void Reset() override
Override this method for custom plugin reset behavior.
virtual void OnKeyPress(ConstAnyPtr &_msg)
Callback each time a key message is received.
~KeysToCmdVelPlugin()
Destructor.
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