ImuSensorPlugin.hh
Go to the documentation of this file.
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_IMUSENSORPLUGIN_HH_
19#define GAZEBO_PLUGINS_IMUSENSORPLUGIN_HH_
20
22#include "gazebo/sensors/sensors.hh"
24
25namespace gazebo
26{
28 class GZ_PLUGIN_VISIBLE ImuSensorPlugin : public SensorPlugin
29 {
31 public: ImuSensorPlugin();
32
34 public: virtual ~ImuSensorPlugin();
35
39 public: virtual void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
40
43 protected: virtual void OnUpdate(sensors::ImuSensorPtr _sensor);
44
47
49 private: event::ConnectionPtr connection;
50
52 private: physics::WorldPtr world;
53
55 private: physics::LinkPtr link;
56 };
57}
58#endif
An base class plugin for custom imu sensor processing.
Definition ImuSensorPlugin.hh:29
ImuSensorPlugin()
Constructor.
sensors::ImuSensorPtr parentSensor
The parent sensor.
Definition ImuSensorPlugin.hh:46
virtual void OnUpdate(sensors::ImuSensorPtr _sensor)
Update callback.
virtual void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
Load the plugin.
virtual ~ImuSensorPlugin()
Destructor.
A plugin with access to physics::Sensor.
Definition Plugin.hh:333
boost::shared_ptr< Connection > ConnectionPtr
Definition CommonTypes.hh:134
boost::shared_ptr< Link > LinkPtr
Definition PhysicsTypes.hh:109
boost::shared_ptr< World > WorldPtr
Definition PhysicsTypes.hh:89
std::shared_ptr< Sensor > SensorPtr
Definition SensorTypes.hh:64
std::shared_ptr< ImuSensor > ImuSensorPtr
Definition SensorTypes.hh:96
Forward declarations for the common classes.
Definition Animation.hh:27