Gazebo Gazebo

API Reference

6.16.0
MecanumDrive.hh
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17 #ifndef IGNITION_GAZEBO_SYSTEMS_MECANUMDRIVE_HH_
18 #define IGNITION_GAZEBO_SYSTEMS_MECANUMDRIVE_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 MecanumDrivePrivate;
34 
91  : public System,
92  public ISystemConfigure,
93  public ISystemPreUpdate,
94  public ISystemPostUpdate
95  {
97  public: MecanumDrive();
98 
100  public: ~MecanumDrive() override = default;
101 
102  // Documentation inherited
103  public: void Configure(const Entity &_entity,
106  EventManager &_eventMgr) override;
107 
108  // Documentation inherited
109  public: void PreUpdate(
110  const ignition::gazebo::UpdateInfo &_info,
112 
113  // Documentation inherited
114  public: void PostUpdate(
115  const UpdateInfo &_info,
116  const EntityComponentManager &_ecm) override;
117 
119  private: std::unique_ptr<MecanumDrivePrivate> dataPtr;
120  };
121  }
122 }
123 }
124 }
125 
126 #endif
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.
void Configure(const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
Configure the system.
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
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
void PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) override
void PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &_ecm) override
~MecanumDrive() override=default
Destructor.
Base class for a System.
Definition: gz/sim/System.hh:75
Mecanum drive controller which can be attached to a model with any number of front/back left/right wh...
Definition: MecanumDrive.hh:90