Gazebo Gazebo

API Reference

3.15.1
DiffDrive.hh
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2018 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 GZ_GAZEBO_SYSTEMS_DIFFDRIVE_HH_
18 #define GZ_GAZEBO_SYSTEMS_DIFFDRIVE_HH_
19 
20 #include <memory>
21 
22 #include <gz/sim/System.hh>
23 
24 namespace ignition
25 {
26 namespace gazebo
27 {
28 // Inline bracket to help doxygen filtering.
29 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
30 namespace systems
31 {
32  // Forward declaration
33  class DiffDrivePrivate;
34 
80  class DiffDrive
81  : public System,
82  public ISystemConfigure,
83  public ISystemPreUpdate,
84  public ISystemPostUpdate
85  {
87  public: DiffDrive();
88 
90  public: ~DiffDrive() override = default;
91 
92  // Documentation inherited
93  public: void Configure(const Entity &_entity,
96  EventManager &_eventMgr) override;
97 
98  // Documentation inherited
99  public: void PreUpdate(
100  const gz::sim::UpdateInfo &_info,
101  gz::sim::EntityComponentManager &_ecm) override;
102 
103  // Documentation inherited
104  public: void PostUpdate(
105  const UpdateInfo &_info,
106  const EntityComponentManager &_ecm) override;
107 
109  private: std::unique_ptr<DiffDrivePrivate> dataPtr;
110  };
111  }
112 }
113 }
114 }
115 
116 #endif
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light....
Definition: gz/sim/Entity.hh:59
This library is part of the Ignition Robotics project.
The EntityComponentManager constructs, deletes, and returns components and entities....
Definition: gz/sim/EntityComponentManager.hh:65
STL class.
void PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) override
The EventManager is used to send/receive notifications of simulator events.
Definition: gz/sim/EventManager.hh:50
void Configure(const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
Configure the system.
Information passed to systems on the update callback.
Definition: include/gz/sim/Types.hh:37
void PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) override
Interface for a system that uses the PreUpdate phase.
Definition: gz/sim/System.hh:105
Interface for a system that uses the PostUpdate phase.
Definition: gz/sim/System.hh:119
Interface for a system that implements optional configuration.
Definition: gz/sim/System.hh:88
Base class for a System.
Definition: gz/sim/System.hh:73
Differential drive controller which can be attached to a model with any number of left and right whee...
Definition: DiffDrive.hh:80