WavefieldModelPlugin.hh

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/*
 * Copyright (C) 2019  Rhys Mainwaring
 *
 * 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 _ASV_WAVE_SIM_GAZEBO_PLUGINS_WAVEFIELD_MODEL_PLUGIN_HH_
#define _ASV_WAVE_SIM_GAZEBO_PLUGINS_WAVEFIELD_MODEL_PLUGIN_HH_

#include <memory>
#include <string>

#include <gazebo/gazebo.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/physics/physics.hh>

namespace asv
{
// WavefieldModelPlugin

  // Forward declarations
  class WavefieldModelPluginPrivate;
  class WaveParameters;

  class GAZEBO_VISIBLE WavefieldModelPlugin : public gazebo::ModelPlugin
  {
    public: virtual ~WavefieldModelPlugin();

    public: WavefieldModelPlugin();

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

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

    // Documentation inherited.
    public: void Fini();

    // Documentation inherited.
    public: void Reset();

    public: static std::shared_ptr<const WaveParameters> GetWaveParams(
      gazebo::physics::WorldPtr _world,
      const std::string& _waveModelName);

    private: void OnUpdate();
    private: std::shared_ptr<WavefieldModelPluginPrivate> data;
  };
}

#endif  // _ASV_WAVE_SIM_GAZEBO_PLUGINS_WAVEFIELD_MODEL_PLUGIN_HH_