HydraDemoPlugin.hh
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1 /*
2  * Copyright (C) 2014 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
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15  *
16 */
17 
18 #ifndef GAZEBO_PLUGINS_HYDRADEMOPLUGIN_HH_
19 #define GAZEBO_PLUGINS_HYDRADEMOPLUGIN_HH_
20 
21 #include <mutex>
22 #include <ignition/transport/Node.hh>
23 #include "gazebo/physics/physics.hh"
24 #include "gazebo/msgs/msgs.hh"
26 #include "gazebo/common/Plugin.hh"
27 #include "gazebo/common/Events.hh"
28 
29 namespace gazebo
30 {
32  {
34  public: HydraDemoPlugin();
35 
37  public: virtual ~HydraDemoPlugin();
38 
39  // Documentation Inherited.
40  public: void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
41 
43  private: void Update();
44 
47  private: void OnHydra(ConstHydraPtr &_msg);
48 
50  private: physics::WorldPtr world;
51 
53  private: physics::ModelPtr model;
54 
56  private: transport::NodePtr node;
57 
59  private: transport::SubscriberPtr hydraSub;
60 
62  private: event::ConnectionPtr updateConnection;
63 
65  private: std::mutex msgMutex;
66 
68  private: boost::shared_ptr<const gazebo::msgs::Hydra> hydraMsgPtr;
69 
70  // Place ignition::transport objects at the end of this file to
71  // guarantee they are destructed first.
72 
74  private: ignition::transport::Node nodeIgn;
75  };
76 }
77 #endif
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
Forward declarations for the common classes.
Definition: Animation.hh:33
Forward declarations for transport.
boost::shared_ptr< Subscriber > SubscriberPtr
Definition: TransportTypes.hh:53
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
Definition: HydraDemoPlugin.hh:31
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
A plugin with access to physics::Model.
Definition: Plugin.hh:260
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:58