Gazebo Gazebo

API Reference

6.16.0
AckermannSteering.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef GZ_GAZEBO_SYSTEMS_ACKERMANNSTEERING_HH_
18 #define GZ_GAZEBO_SYSTEMS_ACKERMANNSTEERING_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 AckermannSteeringPrivate;
34 
117 
118 
120  : public System,
121  public ISystemConfigure,
122  public ISystemPreUpdate,
123  public ISystemPostUpdate
124  {
126  public: AckermannSteering();
127 
129  public: ~AckermannSteering() override = default;
130 
131  // Documentation inherited
132  public: void Configure(const Entity &_entity,
135  EventManager &_eventMgr) override;
136 
137  // Documentation inherited
138  public: void PreUpdate(
139  const gz::sim::UpdateInfo &_info,
140  gz::sim::EntityComponentManager &_ecm) override;
141 
142  // Documentation inherited
143  public: void PostUpdate(
144  const UpdateInfo &_info,
145  const EntityComponentManager &_ecm) override;
146 
149  };
150  }
151 }
152 }
153 }
154 
155 #endif
void PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::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:58
This library is part of the Gazebo project.
The EntityComponentManager constructs, deletes, and returns components and entities....
Definition: gz/sim/EntityComponentManager.hh:66
STL class.
The EventManager is used to send/receive notifications of simulator events.
Definition: gz/sim/EventManager.hh:54
Information passed to systems on the update callback.
Definition: include/gz/sim/Types.hh:38
void PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) override
void Configure(const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
Configure the system.
Interface for a system that uses the PreUpdate phase.
Definition: gz/sim/System.hh:121
Interface for a system that uses the PostUpdate phase.
Definition: gz/sim/System.hh:135
Interface for a system that implements optional configuration.
Definition: gz/sim/System.hh:90
Base class for a System.
Definition: gz/sim/System.hh:75
Ackermann steering controller which can be attached to a model with any number of left and right whee...
Definition: AckermannSteering.hh:119
~AckermannSteering() override=default
Destructor.