mimic_plugin.cpp

Go to the documentation of this file.

/*
 * Copyright (c) 2014, ISR, University of Coimbra
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of Clearpath Robotics, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 * Author: Goncalo Cabrita
 * Gazebo plugin for the FSR Husky Mine Detection Arm with th goal of solving
 * the <mimic> joint tag limitations in Gazebo
 */

#include <gazebo_mimic_plugin/mimic_plugin.h>

using namespace gazebo;

MimicPlugin::MimicPlugin()
{
  kill_sim = false;

  joint_.reset();
  mimic_joint_.reset();
}

MimicPlugin::~MimicPlugin()
{
  event::Events::DisconnectWorldUpdateBegin(this->updateConnection);

  kill_sim = true;
}

void MimicPlugin::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf )
{
  this->model_ = _parent;
  this->world_ = this->model_->GetWorld();


  joint_name_ = "joint";
  if (_sdf->HasElement("joint"))
    joint_name_ = _sdf->GetElement("joint")->Get<std::string>();

  mimic_joint_name_ = "mimicJoint";
  if (_sdf->HasElement("mimicJoint"))
    mimic_joint_name_ = _sdf->GetElement("mimicJoint")->Get<std::string>();

  multiplier_ = 1.0;
  if (_sdf->HasElement("multiplier"))
    multiplier_ = _sdf->GetElement("multiplier")->Get<double>();


  // Get the name of the parent model
  std::string modelName = _sdf->GetParent()->Get<std::string>("name");

  // Listen to the update event. This event is broadcast every
  // simulation iteration.
  this->updateConnection = event::Events::ConnectWorldUpdateBegin(
      boost::bind(&MimicPlugin::UpdateChild, this));
  gzdbg << "Plugin model name: " << modelName << "\n";

  joint_ = model_->GetJoint(joint_name_);
  mimic_joint_ = model_->GetJoint(mimic_joint_name_);
}

void MimicPlugin::UpdateChild()
{
#if GAZEBO_MAJOR_VERSION >= 4
    mimic_joint_->SetPosition(0, joint_->GetAngle(0).Radian()*multiplier_);
#else
    mimic_joint_->SetAngle(0, joint_->GetAngle(0).Radian()*multiplier_);
#endif
}

GZ_REGISTER_MODEL_PLUGIN(MimicPlugin);