Gazebo Gazebo

API Reference

6.16.0
WheelSlip.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef GZ_GAZEBO_SYSTEMS_WHEELSLIP_HH_
19 #define GZ_GAZEBO_SYSTEMS_WHEELSLIP_HH_
20 
21 #include <gz/sim/System.hh>
22 #include <memory>
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 WheelSlipPrivate;
34 
66 
107  class WheelSlip
108  : public System,
109  public ISystemConfigure,
110  public ISystemPreUpdate
111  {
113  public: WheelSlip();
114 
116  public: ~WheelSlip() override = default;
117 
118  // Documentation inherited
119  public: void Configure(const Entity &_entity,
122  EventManager &_eventMgr) override;
123 
124  // Documentation inherited
125  public: void PreUpdate(
126  const gz::sim::UpdateInfo &_info,
127  gz::sim::EntityComponentManager &_ecm) override;
128 
130  private: std::unique_ptr<WheelSlipPrivate> dataPtr;
131  };
132  }
133 }
134 }
135 }
136 
137 #endif
A system that updates wheel slip parameters based on linear wheel spin velocity (radius * spin rate)....
Definition: WheelSlip.hh:107
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 PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) override
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 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 implements optional configuration.
Definition: gz/sim/System.hh:90
Base class for a System.
Definition: gz/sim/System.hh:75
~WheelSlip() override=default
Destructor.