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 #include <dynamic_reconfigure/server.h>
00040 
00041 namespace gazebo
00042 {
00043 
00044 class GazeboRosMagnetic : public ModelPlugin
00045 {
00046 public:
00047   GazeboRosMagnetic();
00048   virtual ~GazeboRosMagnetic();
00049 
00050 protected:
00051   virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
00052   virtual void Reset();
00053   virtual void Update();
00054 
00055 private:
00057   physics::WorldPtr world;
00058 
00060   physics::LinkPtr link;
00061 
00062   ros::NodeHandle* node_handle_;
00063   ros::Publisher publisher_;
00064 
00065   geometry_msgs::Vector3Stamped magnetic_field_;
00066   gazebo::math::Vector3 magnetic_field_world_;
00067 
00068   std::string namespace_;
00069   std::string topic_;
00070   std::string link_name_;
00071   std::string frame_id_;
00072 
00073   double magnitude_;
00074   double reference_heading_;
00075   double declination_;
00076   double inclination_;
00077 
00078   SensorModel3 sensor_model_;
00079 
00080   UpdateTimer updateTimer;
00081   event::ConnectionPtr updateConnection;
00082 
00083   boost::shared_ptr<dynamic_reconfigure::Server<SensorModelConfig> > dynamic_reconfigure_server_;
00084 };
00085 
00086 } // namespace gazebo
00087 
00088 #endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_MAGNETIC_H


hector_gazebo_plugins
Author(s): Stefan Kohlbrecher , Johannes Meyer
autogenerated on Wed Aug 26 2015 11:44:35