mimic_joint_plugin.h
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34 
35 #ifndef GAZEBO_PLUGINS_MIMIC_JOINT_PLUGIN
36 #define GAZEBO_PLUGINS_MIMIC_JOINT_PLUGIN
37 
38 // ROS includes
39 #include <ros/ros.h>
40 
41 // ros_control
42 #include <control_toolbox/pid.h>
43 
44 // Boost includes
45 #include <boost/bind.hpp>
46 
47 // Gazebo includes
48 #include <gazebo/common/Plugin.hh>
49 #include <gazebo/gazebo.hh>
50 #include <gazebo/physics/physics.hh>
51 #include <gazebo/common/common.hh>
52 
53 namespace gazebo
54 {
55  class MimicJointPlugin : public ModelPlugin
56  {
57  public:
60 
61  void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
62  void UpdateChild();
63 
64  private:
65  // Parameters
68  bool has_pid_;
69 
70  bool kill_sim;
71 
72  // PID controller if needed
73  control_toolbox::Pid pid_;
74 
75  // Pointers to the joints
76  physics::JointPtr joint_, mimic_joint_;
77 
78  // Pointer to the model
79  physics::ModelPtr model_;
80 
81  // Pointer to the world
82  physics::WorldPtr world_;
83 
84  // Pointer to the update event connection
85  event::ConnectionPtr updateConnection;
86 
87  };
88 }
89 
90 #endif
control_toolbox::Pid pid_
event::ConnectionPtr updateConnection
void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
physics::JointPtr mimic_joint_


dsr_description
Author(s): Kab Kyoum Kim , Jin Hyuk Gong , Jeongwoo Lee
autogenerated on Sat May 18 2019 02:32:47