JointTrajectoryPlugin.hh
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1 /*
2  * Copyright (C) 2012 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 
18 #ifndef GAZEBO_PLUGINS_JOINTTRAJECTORYPLUGIN_HH_
19 #define GAZEBO_PLUGINS_JOINTTRAJECTORYPLUGIN_HH_
20 
21 #include "gazebo/physics/physics.hh"
23 #include "gazebo/common/Time.hh"
24 #include "gazebo/common/Plugin.hh"
25 #include "gazebo/common/Events.hh"
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
31  {
33  public: JointTrajectoryPlugin();
34 
36  public: virtual ~JointTrajectoryPlugin();
37 
39  public: void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
40 
43  private: void UpdateStates(const common::UpdateInfo &_info);
44 
45 
46  // This function is commented out because it is not used.
47  // private: void FixLink(physics::LinkPtr link);
48 
49  // This function is commented out because it is not used.
50  // private: void UnfixLink();
51 
52  private: physics::WorldPtr world;
53  private: physics::ModelPtr model;
54  private: physics::JointPtr joint;
55 
56  // Pointer to the update event connection
57  private: event::ConnectionPtr updateConnection;
58  };
59 }
60 #endif
Definition: JointTrajectoryPlugin.hh:30
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< Joint > JointPtr
Definition: PhysicsTypes.hh:117
Information for use in an update event.
Definition: UpdateInfo.hh:30
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