SphereAtlasDemoPlugin.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 #ifndef GAZEBO_PLUGINS_SPHEREATLASDEMOPLUGIN_HH_
18 #define GAZEBO_PLUGINS_SPHEREATLASDEMOPLUGIN_HH_
19 
20 #include <string>
21 #include <vector>
22 
23 #include "gazebo/common/Plugin.hh"
24 #include "gazebo/physics/physics.hh"
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
30  {
31  public: SphereAtlasDemoPlugin();
32  public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
33  public: virtual void Init();
34  public: virtual void Reset();
35 
36  private: void OnUpdate();
37 
38  private: event::ConnectionPtr updateConnection;
39 
40  private: physics::ModelPtr model;
41  private: std::vector<std::string> jointNames;
42  private: physics::Joint_V joints;
43 
44  private: common::Time prevUpdateTime;
45 
46  private: std::vector<double> qp;
47  private: std::vector<double> jointKp;
48  private: std::vector<double> jointKd;
49  };
50 }
51 #endif
Definition: SphereAtlasDemoPlugin.hh:29
Forward declarations for the common classes.
Definition: Animation.hh:33
std::vector< JointPtr > Joint_V
Definition: PhysicsTypes.hh:213
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
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
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:44