SphereAtlasDemoPlugin.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_SPHEREATLASDEMOPLUGIN_HH_
18#define GAZEBO_PLUGINS_SPHEREATLASDEMOPLUGIN_HH_
19
20#include <string>
21#include <vector>
22
24#include "gazebo/physics/physics.hh"
25#include "gazebo/util/system.hh"
26
27namespace gazebo
28{
29 class GZ_PLUGIN_VISIBLE SphereAtlasDemoPlugin : public ModelPlugin
30 {
32 public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
33 public: virtual void Init();
34 public: virtual void Reset();
35
36 private: void OnUpdate();
37
38 private: event::ConnectionPtr updateConnection;
39
40 private: physics::ModelPtr model;
41 private: std::vector<std::string> jointNames;
42 private: physics::Joint_V joints;
43
44 private: common::Time prevUpdateTime;
45
46 private: std::vector<double> qp;
47 private: std::vector<double> jointKp;
48 private: std::vector<double> jointKd;
49 };
50}
51#endif
A plugin with access to physics::Model.
Definition Plugin.hh:304
Definition SphereAtlasDemoPlugin.hh:30
virtual void Init()
Override this method for custom plugin initialization behavior.
virtual void Reset()
Override this method for custom plugin reset behavior.
virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
Load function.
A Time class, can be used to hold wall- or sim-time.
Definition Time.hh:48
boost::shared_ptr< Connection > ConnectionPtr
Definition CommonTypes.hh:134
std::vector< JointPtr > Joint_V
Definition PhysicsTypes.hh:213
boost::shared_ptr< Model > ModelPtr
Definition PhysicsTypes.hh:93
Forward declarations for the common classes.
Definition Animation.hh:27