JointTrajectoryPlugin.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_JOINTTRAJECTORYPLUGIN_HH_
19#define GAZEBO_PLUGINS_JOINTTRAJECTORYPLUGIN_HH_
20
21#include "gazebo/physics/physics.hh"
23#include "gazebo/common/Time.hh"
26#include "gazebo/util/system.hh"
27
28namespace gazebo
29{
30 class GZ_PLUGIN_VISIBLE JointTrajectoryPlugin : public ModelPlugin
31 {
34
36 public: virtual ~JointTrajectoryPlugin();
37
39 public: void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
40
43 private: void UpdateStates(const common::UpdateInfo &_info);
44
45
46 // This function is commented out because it is not used.
47 // private: void FixLink(physics::LinkPtr link);
48
49 // This function is commented out because it is not used.
50 // private: void UnfixLink();
51
52 private: physics::WorldPtr world;
53 private: physics::ModelPtr model;
54 private: physics::JointPtr joint;
55
56 // Pointer to the update event connection
57 private: event::ConnectionPtr updateConnection;
58 };
59}
60#endif
Forward declarations for transport.
Definition JointTrajectoryPlugin.hh:31
virtual ~JointTrajectoryPlugin()
Destructor.
void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
Load the controller.
JointTrajectoryPlugin()
Constructor.
A plugin with access to physics::Model.
Definition Plugin.hh:304
Information for use in an update event.
Definition UpdateInfo.hh:31
boost::shared_ptr< Connection > ConnectionPtr
Definition CommonTypes.hh:134
boost::shared_ptr< World > WorldPtr
Definition PhysicsTypes.hh:89
boost::shared_ptr< Model > ModelPtr
Definition PhysicsTypes.hh:93
boost::shared_ptr< Joint > JointPtr
Definition PhysicsTypes.hh:117
Forward declarations for the common classes.
Definition Animation.hh:27