HarnessPlugin.hh
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1/*
2 * Copyright (C) 2016 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_HARNESSPLUGIN_HH_
18#define GAZEBO_PLUGINS_HARNESSPLUGIN_HH_
19
20#include <memory>
21#include <string>
22#include <vector>
23
25
26namespace gazebo
27{
28 // Forward declare private data class
29 class HarnessPluginPrivate;
30
58 class GZ_PLUGIN_VISIBLE HarnessPlugin : public ModelPlugin
59 {
61 public: HarnessPlugin();
62
64 public: virtual ~HarnessPlugin();
65
66 // Documentation Inherited.
67 public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
68
69 // Documentation Inherited.
70 public: virtual void Init();
71
74 public: void SetWinchVelocity(const float _value);
75
78 public: double WinchVelocity() const;
79
83 public: void Attach(const ignition::math::Pose3d &_pose);
84
87 public: void Detach();
88
91 private: void Attach();
92
95 private: void OnUpdate(const common::UpdateInfo &_info);
96
99 private: void OnVelocity(ConstGzStringPtr &_msg);
100
103 private: void OnAttach(ConstPosePtr &_msg);
104
107 private: void OnDetach(ConstGzStringPtr &_msg);
108
112 private: int JointIndex(const std::string &_name) const;
113
116 private: std::unique_ptr<HarnessPluginPrivate> dataPtr;
117 };
118}
119#endif
This plugin is designed to lower a model at a controlled rate.
Definition HarnessPlugin.hh:59
void Attach(const ignition::math::Pose3d &_pose)
Move the child link to the specified pose and recreate the harness joint.
virtual void Init()
Override this method for custom plugin initialization behavior.
HarnessPlugin()
Constructor.
void SetWinchVelocity(const float _value)
Set the target winch velocity.
double WinchVelocity() const
Get the current winch velocity.
virtual ~HarnessPlugin()
Destructor.
virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
Load function.
void Detach()
Detach the <detach> joint.
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< Model > ModelPtr
Definition PhysicsTypes.hh:93
Forward declarations for the common classes.
Definition Animation.hh:27