Program Listing for File gazebo_ros_ackermann_drive.hpp

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// Copyright 2019 Open Source Robotics Foundation, Inc.
//
// 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 GAZEBO_PLUGINS__GAZEBO_ROS_ACKERMANN_DRIVE_HPP_
#define GAZEBO_PLUGINS__GAZEBO_ROS_ACKERMANN_DRIVE_HPP_

#include <gazebo/common/Plugin.hh>

#include <memory>

namespace gazebo_plugins
{
class GazeboRosAckermannDrivePrivate;


class GazeboRosAckermannDrive : public gazebo::ModelPlugin
{
public:
  GazeboRosAckermannDrive();

  ~GazeboRosAckermannDrive();

protected:
  // Documentation inherited
  void Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) override;

  // Documentation inherited
  void Reset() override;

private:
  std::unique_ptr<GazeboRosAckermannDrivePrivate> impl_;
};
}  // namespace gazebo_plugins

#endif  // GAZEBO_PLUGINS__GAZEBO_ROS_ACKERMANN_DRIVE_HPP_