RandomVelocityPlugin.hh
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1 /*
2  * Copyright (C) 2015 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
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8  * http://www.apache.org/licenses/LICENSE-2.0
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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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17 #ifndef GAZEBO_PLUGINS_RANDOMVELOCITYPLUGIN_HH_
18 #define GAZEBO_PLUGINS_RANDOMVELOCITYPLUGIN_HH_
19 
20 #include <memory>
21 
22 #include <sdf/sdf.hh>
24 #include <gazebo/common/Plugin.hh>
25 #include <gazebo/util/system.hh>
26 
27 namespace gazebo
28 {
29  // Forward declare private data class.
30  class RandomVelocityPluginPrivate;
31 
68  {
70  public: RandomVelocityPlugin();
71 
73  public: ~RandomVelocityPlugin();
74 
75  // Documentation inherited
76  public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
77 
78  // Documentation inherited
79  public: virtual void Reset();
80 
83  private: void Update(const common::UpdateInfo &_info);
84 
87  private: std::unique_ptr<RandomVelocityPluginPrivate> dataPtr;
88  };
89 }
90 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
Plugin that applies a random velocity to a linke periodically.
Definition: RandomVelocityPlugin.hh:67
Information for use in an update event.
Definition: UpdateInfo.hh:30
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