UmbilicalPlugin.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_UMBILICAL_PLUGIN_HH__
#define __UUV_GAZEBO_PLUGINS_UMBILICAL_PLUGIN_HH__

#include <memory>
#include <string>

#include <gazebo/gazebo.hh>
#include <gazebo/common/UpdateInfo.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/physics/World.hh>
#include <gazebo/transport/TransportTypes.hh>

#include <uuv_gazebo_plugins/UmbilicalModel.hh>

namespace gazebo
{
class UmbilicalSegment
{
  public:
    UmbilicalSegment() { initSdfSegment(); }

    UmbilicalSegment(const std::string& _name,
                     const std::string& _fromLink,
                     const ignition::math::Pose3d& _fromPose,
                     const ignition::math::Pose3d& _toPose,
                     physics::ModelPtr _model);

    void initSdfSegment();

    physics::LinkPtr link;
    physics::LinkPtr linkA;
    physics::JointPtr jointA;
    physics::JointPtr jointB;

    std::shared_ptr<UmbilicalSegment> prev, next;

    static sdf::SDFPtr sdfSegment;
};

typedef boost::shared_ptr<UmbilicalSegment> UmbilicalSegmentPtr;

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

  public: ~UmbilicalPlugin();

  protected: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);

  protected: virtual void OnUpdate(const common::UpdateInfo&);

  protected: void UpdateFlowVelocity(ConstVector3dPtr &_msg);

  protected: event::ConnectionPtr updateConnection;

  protected: gazebo::physics::ModelPtr model;

  protected: gazebo::physics::WorldPtr world;

  protected: gazebo::transport::NodePtr node;

  protected: gazebo::transport::SubscriberPtr flowSubscriber;

  protected: ignition::math::Vector3d flowVelocity;

  protected: std::shared_ptr<UmbilicalModel> umbilical;
};
}

#endif