UnderwaterCurrentPlugin.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 __UNDERWATER_CURRENT_PLUGIN_HH__
#define __UNDERWATER_CURRENT_PLUGIN_HH__

#include <map>
#include <cmath>
#include <string>

#include <gazebo/gazebo.hh>
#include <gazebo/transport/TransportTypes.hh>
#include <uuv_world_plugins/GaussMarkovProcess.hh>
#include <sdf/sdf.hh>

namespace gazebo
{
  class UnderwaterCurrentPlugin : public WorldPlugin
  {
    public: UnderwaterCurrentPlugin();

    public: virtual ~UnderwaterCurrentPlugin();

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

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

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

    protected: void PublishCurrentVelocity();

    protected: event::ConnectionPtr updateConnection;

    protected: physics::WorldPtr world;

    protected: sdf::ElementPtr sdf;

    protected: bool hasSurface;

    protected: transport::NodePtr node;

    protected: std::map<std::string, transport::PublisherPtr>
      publishers;

    protected: std::string currentVelocityTopic;

    protected: std::string ns;

    protected: GaussMarkovProcess currentVelModel;

    protected: GaussMarkovProcess currentHorzAngleModel;

    protected: GaussMarkovProcess currentVertAngleModel;

    protected: common::Time lastUpdate;

    protected: ignition::math::Vector3d currentVelocity;
  };
}

#endif  // __UNDERWATER_CURRENT_PLUGIN_HH__