Program Listing for File gazebo_ros_wheel_slip.hpp
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// Copyright 2019 Open Source Robotics Foundation
//
// 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_WHEEL_SLIP_HPP_
#define GAZEBO_PLUGINS__GAZEBO_ROS_WHEEL_SLIP_HPP_
#include <gazebo/common/Plugin.hh>
#include <gazebo/plugins/WheelSlipPlugin.hh>
#include <memory>
namespace gazebo_plugins
{
class GazeboRosWheelSlipPrivate;
class GazeboRosWheelSlip : public gazebo::WheelSlipPlugin
{
public:
GazeboRosWheelSlip();
~GazeboRosWheelSlip();
protected:
// Documentation inherited
void Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) override;
private:
std::unique_ptr<GazeboRosWheelSlipPrivate> impl_;
};
} // namespace gazebo_plugins
#endif // GAZEBO_PLUGINS__GAZEBO_ROS_WHEEL_SLIP_HPP_