UnderwaterObjectPlugin.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 __UUV_GAZEBO_PLUGINS_UNDERWATER_OBJECT_HH__
#define __UUV_GAZEBO_PLUGINS_UNDERWATER_OBJECT_HH__

#include <map>
#include <string>

#include <gazebo/gazebo.hh>
#include <gazebo/msgs/msgs.hh>

#include <uuv_gazebo_plugins/HydrodynamicModel.hh>
#include <uuv_gazebo_plugins/Def.hh>

namespace gazebo
{
class UnderwaterObjectPlugin : public gazebo::ModelPlugin
{
  public: UnderwaterObjectPlugin();

  public: virtual ~UnderwaterObjectPlugin();

  // Documentation inherited.
  public: virtual void Load(gazebo::physics::ModelPtr _model,
                          sdf::ElementPtr _sdf);

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

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

  protected: virtual void Connect();

  protected: void UpdateFlowVelocity(ConstVector3dPtr &_msg);

  protected: virtual void PublishCurrentVelocityMarker();

  protected: virtual void PublishIsSubmerged();

  protected: virtual void PublishRestoringForce(
    gazebo::physics::LinkPtr _link);

  protected: virtual void PublishHydrodynamicWrenches(
    gazebo::physics::LinkPtr _link);

  protected: virtual void GenWrenchMsg(
    ignition::math::Vector3d _force, ignition::math::Vector3d _torque,
    gazebo::msgs::WrenchStamped &_output);

  protected: virtual void InitDebug(gazebo::physics::LinkPtr _link,
    gazebo::HydrodynamicModelPtr _hydro);

  protected: std::map<gazebo::physics::LinkPtr,
                      HydrodynamicModelPtr> models;

  protected: ignition::math::Vector3d flowVelocity;

  protected: gazebo::event::ConnectionPtr updateConnection;

  protected: gazebo::physics::WorldPtr world;

  protected: gazebo::physics::ModelPtr model;

  protected: gazebo::transport::NodePtr node;

  protected: std::string baseLinkName;

  protected: gazebo::transport::SubscriberPtr flowSubscriber;

  protected: bool useGlobalCurrent;

  protected: std::map<std::string, gazebo::transport::PublisherPtr> hydroPub;
};
}

#endif  // __UUV_GAZEBO_PLUGINS_UNDERWATER_OBJECT_HH__