gazebo_ros_magnetic.h
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00001 //=================================================================================================
00002 // Copyright (c) 2012, Johannes Meyer, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Flight Systems and Automatic Control group,
00013 //       TU Darmstadt, nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_MAGNETIC_H
00030 #define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_MAGNETIC_H
00031 
00032 #include <gazebo/common/Plugin.hh>
00033 
00034 #include <ros/ros.h>
00035 #include <geometry_msgs/Vector3Stamped.h>
00036 #include <hector_gazebo_plugins/sensor_model.h>
00037 #include <hector_gazebo_plugins/update_timer.h>
00038 
00039 namespace gazebo
00040 {
00041 
00042 class GazeboRosMagnetic : public ModelPlugin
00043 {
00044 public:
00045   GazeboRosMagnetic();
00046   virtual ~GazeboRosMagnetic();
00047 
00048 protected:
00049   virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
00050   virtual void Reset();
00051   virtual void Update();
00052 
00053 private:
00055   physics::WorldPtr world;
00056 
00058   physics::LinkPtr link;
00059 
00060   ros::NodeHandle* node_handle_;
00061   ros::Publisher publisher_;
00062 
00063   geometry_msgs::Vector3Stamped magnetic_field_;
00064   gazebo::math::Vector3 magnetic_field_world_;
00065 
00066   std::string namespace_;
00067   std::string topic_;
00068   std::string link_name_;
00069   std::string frame_id_;
00070 
00071   double magnitude_;
00072   double reference_heading_;
00073   double declination_;
00074   double inclination_;
00075 
00076   SensorModel3 sensor_model_;
00077 
00078   UpdateTimer updateTimer;
00079   event::ConnectionPtr updateConnection;
00080 };
00081 
00082 } // namespace gazebo
00083 
00084 #endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_MAGNETIC_H
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hector_gazebo_plugins
Author(s): Stefan Kohlbrecher and Johannes Meyer
autogenerated on Mon Jul 15 2013 16:46:30