BreakableJointPlugin.hh
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1 /*
2  * Copyright (C) 2013 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
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13  * See the License for the specific language governing permissions and
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15  *
16 */
17 #ifndef GAZEBO_PLUGINS_BREAKABLEJOINTPLUGIN_HH_
18 #define GAZEBO_PLUGINS_BREAKABLEJOINTPLUGIN_HH_
19 
20 #include "gazebo/sensors/sensors.hh"
21 #include "gazebo/common/Plugin.hh"
22 #include "gazebo/common/Events.hh"
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
29  {
31  public: BreakableJointPlugin();
32 
34  public: virtual ~BreakableJointPlugin();
35 
39  public: virtual void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
40 
43  protected: virtual void OnUpdate(msgs::WrenchStamped _msg);
44 
46  protected: void OnWorldUpdate();
47 
49  private: physics::JointPtr parentJoint;
50 
52  private: event::ConnectionPtr worldConnection;
53 
55  private: double breakingForce;
56 
58  private: sensors::ForceTorqueSensorPtr parentSensor;
59 
61  private: event::ConnectionPtr connection;
62  };
63 }
64 #endif
std::shared_ptr< Sensor > SensorPtr
Definition: SensorTypes.hh:64
std::shared_ptr< ForceTorqueSensor > ForceTorqueSensorPtr
Definition: SensorTypes.hh:116
Forward declarations for the common classes.
Definition: Animation.hh:33
A plugin for breakable joints, based on a ForceTorque sensor plugin.
Definition: BreakableJointPlugin.hh:28
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:117
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
A plugin with access to physics::Sensor.
Definition: Plugin.hh:289
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:58