AccelerationsTestPlugin.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_ACCELERATIONS_TEST_PLUGIN_H__
#define __UUV_GAZEBO_PLUGINS_ACCELERATIONS_TEST_PLUGIN_H__

#include <map>
#include <string>

#include <gazebo/gazebo.hh>
#include <gazebo/msgs/msgs.hh>

#include <uuv_gazebo_plugins/HydrodynamicModel.hh>
#include <uuv_gazebo_plugins/Def.hh>

namespace gazebo
{
class AccelerationsTestPlugin : public gazebo::ModelPlugin
{
  public: AccelerationsTestPlugin();

  public: virtual ~AccelerationsTestPlugin();

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

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

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

  protected: virtual void Connect();

  protected: gazebo::event::ConnectionPtr updateConnection;

  protected: gazebo::physics::WorldPtr world;

  protected: gazebo::physics::ModelPtr model;

  protected: gazebo::transport::NodePtr node;

  protected: physics::LinkPtr link;

  // ROS things
  private: boost::scoped_ptr<ros::NodeHandle> rosNode;

  protected: ros::Publisher pub_accel_b_gazebo;
  protected: ros::Publisher pub_accel_b_numeric;

  protected: ros::Publisher pub_accel_w_gazebo;
  protected: ros::Publisher pub_accel_w_numeric;

  Eigen::Vector6d last_w_v_w_b;

  common::Time lastTime;
};
}

#endif  // __UUV_GAZEBO_PLUGINS_ACCELERATIONS_TEST_PLUGIN_H__