ImuSensorPlugin.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
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13  * See the License for the specific language governing permissions and
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16 */
17 
18 #ifndef GAZEBO_PLUGINS_IMUSENSORPLUGIN_HH_
19 #define GAZEBO_PLUGINS_IMUSENSORPLUGIN_HH_
20 
21 #include "gazebo/common/Plugin.hh"
22 #include "gazebo/sensors/sensors.hh"
23 #include "gazebo/common/Events.hh"
24 
25 namespace gazebo
26 {
29  {
31  public: ImuSensorPlugin();
32 
34  public: virtual ~ImuSensorPlugin();
35 
39  public: virtual void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
40 
43  protected: virtual void OnUpdate(sensors::ImuSensorPtr _sensor);
44 
47 
49  private: event::ConnectionPtr connection;
50 
52  private: physics::WorldPtr world;
53 
55  private: physics::LinkPtr link;
56  };
57 }
58 #endif
std::shared_ptr< Sensor > SensorPtr
Definition: SensorTypes.hh:64
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
Forward declarations for the common classes.
Definition: Animation.hh:33
std::shared_ptr< ImuSensor > ImuSensorPtr
Definition: SensorTypes.hh:96
sensors::ImuSensorPtr parentSensor
The parent sensor.
Definition: ImuSensorPlugin.hh:46
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
An base class plugin for custom imu sensor processing.
Definition: ImuSensorPlugin.hh:28
A plugin with access to physics::Sensor.
Definition: Plugin.hh:289
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:58