gazebo_ros_template.h
Go to the documentation of this file.00001 /* 00002 * Gazebo - Outdoor Multi-Robot Simulator 00003 * Copyright (C) 2003 00004 * Nate Koenig & Andrew Howard 00005 * 00006 * This program is free software; you can redistribute it and/or modify 00007 * it under the terms of the GNU General Public License as published by 00008 * the Free Software Foundation; either version 2 of the License, or 00009 * (at your option) any later version. 00010 * 00011 * This program is distributed in the hope that it will be useful, 00012 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 * GNU General Public License for more details. 00015 * 00016 * You should have received a copy of the GNU General Public License 00017 * along with this program; if not, write to the Free Software 00018 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00019 * 00020 */ 00021 /* 00022 * Desc: Actuator array controller for a Pr2 robot. 00023 * Author: Nathan Koenig 00024 * Date: 19 Sept 2007 00025 * SVN: $Id$ 00026 */ 00027 #ifndef GAZEBO_ROS_TEMPLATE_HH 00028 #define GAZEBO_ROS_TEMPLATE_HH 00029 00030 #include <gazebo/Controller.hh> 00031 #include <gazebo/Body.hh> 00032 #include <gazebo/World.hh> 00033 00034 namespace gazebo 00035 { 00038 00091 class GazeboRosTemplate : public Controller 00092 { 00095 public: GazeboRosTemplate(Entity *parent); 00096 00098 public: virtual ~GazeboRosTemplate(); 00099 00102 protected: virtual void LoadChild(XMLConfigNode *node); 00103 00105 protected: virtual void InitChild(); 00106 00108 protected: virtual void UpdateChild(); 00109 00111 protected: virtual void FiniChild(); 00112 00113 }; 00114 00116 00117 00118 } 00119 #endif 00120