ThrusterPlugin.hh

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// Copyright (c) 2016 The UUV Simulator Authors.
// All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.


#ifndef __UUV_GAZEBO_PLUGINS_THRUSTER_PLUGIN_HH__
#define __UUV_GAZEBO_PLUGINS_THRUSTER_PLUGIN_HH__

#include <boost/scoped_ptr.hpp>

#include <map>
#include <string>
#include <memory>

#include <gazebo/gazebo.hh>
#include <gazebo/transport/TransportTypes.hh>

#include <sdf/sdf.hh>

#include <uuv_gazebo_plugins/ThrusterConversionFcn.hh>
#include <uuv_gazebo_plugins/Dynamics.hh>

#include "Double.pb.h"

namespace gazebo
{
typedef const boost::shared_ptr<const uuv_gazebo_plugins_msgs::msgs::Double>
ConstDoublePtr;

class ThrusterPlugin : public ModelPlugin
{
  public: ThrusterPlugin();

  public: virtual ~ThrusterPlugin();

  // Documentation inherited.
  public: virtual void Load(physics::ModelPtr _model,
                            sdf::ElementPtr _sdf);

  // Documentation inherited.
  public: virtual void Init();

  public: virtual void Reset();

  public: void Update(const common::UpdateInfo &_info);

  protected: void UpdateInput(ConstDoublePtr &_msg);

  protected: std::shared_ptr<Dynamics> thrusterDynamics;

  protected: std::shared_ptr<ConversionFunction> conversionFunction;

  protected: event::ConnectionPtr updateConnection;

  protected: physics::LinkPtr thrusterLink;

  protected: transport::NodePtr node;

  protected: transport::SubscriberPtr commandSubscriber;

  protected: transport::PublisherPtr thrustTopicPublisher;

  protected: double inputCommand;

  protected: double thrustForce;

  protected: common::Time thrustForceStamp;

  protected: physics::JointPtr joint;

  protected: double clampMin;

  protected: double clampMax;

  protected: double thrustMin;

  protected: double thrustMax;

  protected: int thrusterID;

  protected: std::string topicPrefix;

  protected: double gain;

  protected: bool isOn;

  protected: double thrustEfficiency;

  protected: double propellerEfficiency;

  protected: ignition::math::Vector3d thrusterAxis;
};
}
#endif  // __UUV_GAZEBO_PLUGINS_THRUSTER_PLUGIN_HH__