ArduCopterPlugin.hh
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1 /*
2  * Copyright (C) 2016 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_ARDUCOPTERPLUGIN_HH_
18 #define GAZEBO_PLUGINS_ARDUCOPTERPLUGIN_HH_
19 
20 #include <sdf/sdf.hh>
21 #include <gazebo/common/common.hh>
22 #include <gazebo/physics/physics.hh>
23 
24 namespace gazebo
25 {
26  // Forward declare private data class
27  class ArduCopterPluginPrivate;
28 
49  {
51  public: ArduCopterPlugin();
52 
54  public: ~ArduCopterPlugin();
55 
56  // Documentation Inherited.
57  public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
58 
61  private: void OnUpdate();
62 
65  private: void ApplyMotorForces(const double _dt);
66 
68  private: void ResetPIDs();
69 
71  private: void ReceiveMotorCommand();
72 
74  private: void SendState() const;
75 
77  private: std::unique_ptr<ArduCopterPluginPrivate> dataPtr;
78  };
79 }
80 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
Interface ArduCopter from ardupilot stack modeled after SITL/SIM_*.
Definition: ArduCopterPlugin.hh:48
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