ArduCopterPlugin.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_ARDUCOPTERPLUGIN_HH_
18#define GAZEBO_PLUGINS_ARDUCOPTERPLUGIN_HH_
19
20#include <sdf/sdf.hh>
21#include <gazebo/common/common.hh>
22#include <gazebo/physics/physics.hh>
23
24namespace gazebo
25{
26 // Forward declare private data class
27 class ArduCopterPluginPrivate;
28
48 class GZ_PLUGIN_VISIBLE ArduCopterPlugin : public ModelPlugin
49 {
52
55
56 // Documentation Inherited.
57 public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
58
61 private: void OnUpdate();
62
65 private: void ApplyMotorForces(const double _dt);
66
68 private: void ResetPIDs();
69
71 private: void ReceiveMotorCommand();
72
74 private: void SendState() const;
75
77 private: std::unique_ptr<ArduCopterPluginPrivate> dataPtr;
78 };
79}
80#endif
Interface ArduCopter from ardupilot stack modeled after SITL/SIM_*.
Definition ArduCopterPlugin.hh:49
ArduCopterPlugin()
Constructor.
virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
Load function.
~ArduCopterPlugin()
Destructor.
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