18#ifndef GAZEBO_PLUGINS_ACTUATORPLUGIN_
19#define GAZEBO_PLUGINS_ACTUATORPLUGIN_
25#include <gazebo/physics/physics.hh>
91 private:
void WorldUpdateCallback();
94 private: std::vector<physics::JointPtr> joints;
97 private: std::vector<ActuatorProperties> actuators;
100 private: std::vector<event::ConnectionPtr> connections;
#define GZ_REGISTER_MODEL_PLUGIN(classname)
Plugin registration function for model plugin.
Definition Plugin.hh:419
Plugin for simulating a torque-speed curve for actuators.
Definition ActuatorPlugin.hh:86
void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
Documentation inherited.
Properties for a model of a rotational actuator.
Definition ActuatorPlugin.hh:59
float maximumTorque
Maximum torque of the actuator (Newton-meters)
Definition ActuatorPlugin.hh:73
int jointIndex
Which joint index is actuated by this actuator.
Definition ActuatorPlugin.hh:64
std::string name
An identifier for the actuator.
Definition ActuatorPlugin.hh:61
std::function< float(float, float, const ActuatorProperties &) modelFunction)
Function used to calculate motor output.
Definition ActuatorPlugin.hh:81
float power
Mechanical power output of the actuator (Watts)
Definition ActuatorPlugin.hh:67
float maximumVelocity
Maximum velocity of the actuator (radians per second)
Definition ActuatorPlugin.hh:70
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