17#ifndef GAZEBO_PLUGINS_BREAKABLEJOINTPLUGIN_HH_
18#define GAZEBO_PLUGINS_BREAKABLEJOINTPLUGIN_HH_
20#include "gazebo/sensors/sensors.hh"
43 protected:
virtual void OnUpdate(msgs::WrenchStamped _msg);
55 private:
double breakingForce;
A plugin for breakable joints, based on a ForceTorque sensor plugin.
Definition BreakableJointPlugin.hh:29
virtual ~BreakableJointPlugin()
Destructor.
virtual void OnUpdate(msgs::WrenchStamped _msg)
Overloaded Update callback.
void OnWorldUpdate()
WorldUpdate callback, used to safely detach parent joint.
virtual void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
Load the plugin.
BreakableJointPlugin()
Constructor.
A plugin with access to physics::Sensor.
Definition Plugin.hh:333
boost::shared_ptr< Connection > ConnectionPtr
Definition CommonTypes.hh:134
boost::shared_ptr< Joint > JointPtr
Definition PhysicsTypes.hh:117
std::shared_ptr< ForceTorqueSensor > ForceTorqueSensorPtr
Definition SensorTypes.hh:116
std::shared_ptr< Sensor > SensorPtr
Definition SensorTypes.hh:64
Forward declarations for the common classes.
Definition Animation.hh:27