gazebo_ros_hand_of_god.h
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00001 /*
00002  * Copyright (C) 2012-2014 Open Source Robotics Foundation
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *     http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  *
00016 */
00017 /*
00018  * Desc: 3D position interface.
00019  * Author: Sachin Chitta and John Hsu
00020  * Date: 10 June 2008
00021  */
00022 
00023 #ifndef GAZEBO_ROS_TEMPLATE_HH
00024 #define GAZEBO_ROS_TEMPLATE_HH
00025 
00026 #include <ros/ros.h>
00027 
00028 #include <gazebo/physics/physics.hh>
00029 #include <gazebo/transport/TransportTypes.hh>
00030 #include <gazebo/common/Time.hh>
00031 #include <gazebo/common/Plugin.hh>
00032 #include <gazebo/common/Events.hh>
00033 
00034 #include <tf2_ros/transform_listener.h>
00035 #include <tf2_ros/transform_broadcaster.h>
00036 
00037 namespace gazebo
00038 {
00039 
00040   class GazeboRosHandOfGod : public ModelPlugin
00041   {
00043   public: GazeboRosHandOfGod();
00044 
00046   public: virtual ~GazeboRosHandOfGod();
00047 
00049   public: void Load( physics::ModelPtr _parent, sdf::ElementPtr _sdf );
00050 
00052   protected: virtual void GazeboUpdate();
00053 
00055   private: event::ConnectionPtr update_connection_;
00056            boost::shared_ptr<tf2_ros::Buffer> tf_buffer_;
00057            boost::shared_ptr<tf2_ros::TransformListener> tf_listener_;
00058            boost::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
00059            physics::ModelPtr model_;
00060            physics::LinkPtr floating_link_;
00061            std::string link_name_;
00062            std::string robot_namespace_;
00063            std::string frame_id_;
00064            double kl_, ka_;
00065            double cl_, ca_;
00066   };
00067 
00068 }
00069 
00070 #endif
00071 


gazebo_plugins
Author(s): John Hsu
autogenerated on Thu Jun 6 2019 18:41:09