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DiffDrivePlugin.hh
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DiffDrivePlugin.hh
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/*
* Copyright (C) 2012 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef GAZEBO_PLUGINS_DIFFDRIVEPLUGIN_HH_
#define GAZEBO_PLUGINS_DIFFDRIVEPLUGIN_HH_
#include <ignition/transport/Node.hh>
#include "gazebo/common/Plugin.hh"
#include "gazebo/physics/physics.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/gazebo.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
class GZ_PLUGIN_VISIBLE DiffDrivePlugin : public ModelPlugin
{
public: DiffDrivePlugin();
public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
public: virtual void Init();
private: void OnUpdate();
private: void OnVelMsg(ConstPosePtr &_msg);
private: transport::NodePtr node;
private: transport::SubscriberPtr velSub;
private: physics::ModelPtr model;
private: physics::JointPtr leftJoint, rightJoint;
private: event::ConnectionPtr updateConnection;
private: double wheelSpeed[2];
private: double wheelSeparation;
private: double wheelRadius;
private: common::Time prevUpdateTime;
private: physics::LinkPtr link, leftWheelLink, rightWheelLink;
// Place ignition::transport objects at the end of this file to
// guarantee they are destructed first.
/// \brief Ignition transport node
private: ignition::transport::Node nodeIgn;
};
}
#endif