FollowerPlugin.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
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8  * http://www.apache.org/licenses/LICENSE-2.0
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef GAZEBO_PLUGINS_FOLLOWERPLUGIN_HH_
19 #define GAZEBO_PLUGINS_FOLLOWERPLUGIN_HH_
20 
21 #include <memory>
22 #include <string>
23 
24 #include <sdf/sdf.hh>
25 
26 #include <gazebo/common/Plugin.hh>
28 
29 namespace gazebo
30 {
31  // Forward declare private class
32  struct FollowerPluginPrivate;
33 
39  {
41  public: FollowerPlugin();
42 
44  public: ~FollowerPlugin();
45 
46  // Documentation Inherited.
47  public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
48 
49  // Documentation Inherited.
50  public: virtual void Init();
51 
52  // Documentation Unherited.
53  public: virtual void Reset();
54 
61  private: void OnNewDepthFrame(const float *_image,
62  const unsigned int _width, const unsigned int _height,
63  const unsigned int _depth, const std::string &_format);
64 
66  private: void OnUpdate();
67 
71  private: bool FindSensor(const physics::ModelPtr &_model);
72 
74  private: void FindJoints();
75 
77  private: void UpdateFollower();
78 
80  private: std::unique_ptr<FollowerPluginPrivate> dataPtr;
81  };
82 }
83 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
default namespace for gazebo
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 simple object follower that finds the closest object in a depth image and commands a differential d...
Definition: FollowerPlugin.hh:38
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