RPTROSPlugin.hh
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1 // Copyright (c) 2016 The UUV Simulator Authors.
2 // All rights reserved.
3 //
4 // Licensed under the Apache License, Version 2.0 (the "License");
5 // you may not use this file except in compliance with the License.
6 // You may obtain a copy of the License at
7 //
8 // http://www.apache.org/licenses/LICENSE-2.0
9 //
10 // Unless required by applicable law or agreed to in writing, software
11 // distributed under the License is distributed on an "AS IS" BASIS,
12 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 // See the License for the specific language governing permissions and
14 // limitations under the License.
15 
16 #ifndef __UUV_RPT_ROS_PLUGIN_HH__
17 #define __UUV_RPT_ROS_PLUGIN_HH__
18 
19 #include <gazebo/gazebo.hh>
20 #include <ros/ros.h>
22 #include <uuv_sensor_ros_plugins_msgs/PositionWithCovarianceStamped.h>
23 #include <geometry_msgs/PoseWithCovarianceStamped.h>
24 #include "SensorRpt.pb.h"
25 
26 namespace gazebo
27 {
29  {
31  public: RPTROSPlugin();
32 
34  public: virtual ~RPTROSPlugin();
35 
37  public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
38 
40  protected: virtual bool OnUpdate(const common::UpdateInfo& _info);
41 
43  protected: ignition::math::Vector3d position;
44 
46  protected: uuv_sensor_ros_plugins_msgs::PositionWithCovarianceStamped rosMessage;
47  };
48 }
49 
50 #endif // __UUV_RPT_ROS_PLUGIN_HH__
RPTROSPlugin()
Class constructor.
Definition: RPTROSPlugin.cc:21
virtual bool OnUpdate(const common::UpdateInfo &_info)
Update sensor measurement.
Definition: RPTROSPlugin.cc:55
virtual ~RPTROSPlugin()
Class destructor.
Definition: RPTROSPlugin.cc:25
virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
Load the plugin.
Definition: RPTROSPlugin.cc:29
uuv_sensor_ros_plugins_msgs::PositionWithCovarianceStamped rosMessage
Store message since many attributes do not change (cov.).
Definition: RPTROSPlugin.hh:46
ignition::math::Vector3d position
Latest measured position.
Definition: RPTROSPlugin.hh:43


uuv_sensor_ros_plugins
Author(s): Musa Morena Marcusso Manhaes , Sebastian Scherer , Luiz Ricardo Douat
autogenerated on Mon Jul 1 2019 19:39:20