Gazebo Gazebo

API Reference

3.15.1
VelocityControl.hh
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1 /*
2  * Copyright (C) 2020 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
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,
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13  * See the License for the specific language governing permissions and
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15  *
16  */
17 #ifndef GZ_GAZEBO_SYSTEMS_VELOCITYCONTROL_HH_
18 #define GZ_GAZEBO_SYSTEMS_VELOCITYCONTROL_HH_
19 
20 #include <memory>
21 #include <optional>
22 
23 #include <gz/sim/System.hh>
24 
25 namespace ignition
26 {
27 namespace gazebo
28 {
29 // Inline bracket to help doxygen filtering.
30 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
31 namespace systems
32 {
33  // Forward declaration
34  class VelocityControlPrivate;
35 
48  : public System,
49  public ISystemConfigure,
50  public ISystemPreUpdate,
51  public ISystemPostUpdate
52  {
54  public: VelocityControl();
55 
57  public: ~VelocityControl() override = default;
58 
59  // Documentation inherited
60  public: void Configure(const Entity &_entity,
63  EventManager &_eventMgr) override;
64 
65  // Documentation inherited
66  public: void PreUpdate(
67  const gz::sim::UpdateInfo &/*_info*/,
68  gz::sim::EntityComponentManager &_ecm) override;
69 
70  // Documentation inherited
71  public: void PostUpdate(
72  const UpdateInfo &_info,
73  const EntityComponentManager &_ecm) override;
74 
77  };
78  }
79 }
80 }
81 }
82 
83 #endif
84 
void PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) override
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.
The EventManager is used to send/receive notifications of simulator events.
Definition: gz/sim/EventManager.hh:50
Information passed to systems on the update callback.
Definition: include/gz/sim/Types.hh:37
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
Linear and angular velocity controller which is directly set on a model.
Definition: VelocityControl.hh:47
Base class for a System.
Definition: gz/sim/System.hh:73
void PreUpdate(const gz::sim::UpdateInfo &, gz::sim::EntityComponentManager &_ecm) override
void Configure(const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
Configure the system.