Program Listing for File gazebo_ros_diff_drive.hpp
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// Copyright (c) 2010, Daniel Hewlett, Antons Rebguns
// All rights reserved.
//
// Software License Agreement (BSD License 2.0)
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#ifndef GAZEBO_PLUGINS__GAZEBO_ROS_DIFF_DRIVE_HPP_
#define GAZEBO_PLUGINS__GAZEBO_ROS_DIFF_DRIVE_HPP_
#include <gazebo/common/Plugin.hh>
#include <memory>
namespace gazebo_plugins
{
class GazeboRosDiffDrivePrivate;
/*
* developed for the erratic robot (see copyright notice above). The original
* plugin can be found in the ROS package gazebo_erratic_plugins.
*
* \author Piyush Khandelwal (piyushk@gmail.com)
*
* $ Id: 06/21/2013 11:23:40 AM piyushk $
*/
class GazeboRosDiffDrive : public gazebo::ModelPlugin
{
public:
GazeboRosDiffDrive();
~GazeboRosDiffDrive();
protected:
// Documentation inherited
void Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) override;
// Documentation inherited
void Reset() override;
private:
std::unique_ptr<GazeboRosDiffDrivePrivate> impl_;
};
} // namespace gazebo_plugins
#endif // GAZEBO_PLUGINS__GAZEBO_ROS_DIFF_DRIVE_HPP_