FinPlugin.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_FIN_PLUGIN_HH__
#define __UUV_GAZEBO_PLUGINS_FIN_PLUGIN_HH__

#include <boost/scoped_ptr.hpp>
#include <gazebo/gazebo.hh>
#include <sdf/sdf.hh>

#include <gazebo/msgs/msgs.hh>
#include <uuv_gazebo_plugins/Dynamics.hh>
#include <uuv_gazebo_plugins/LiftDragModel.hh>

#include "Double.pb.h"

namespace gazebo {

typedef const boost::shared_ptr<const uuv_gazebo_plugins_msgs::msgs::Double>
ConstDoublePtr;

class FinPlugin : public ModelPlugin
{
    public: FinPlugin();

    public: virtual ~FinPlugin();

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

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

    public: void OnUpdate(const common::UpdateInfo &_info);

    protected: void UpdateInput(ConstDoublePtr &_msg);

    protected: void UpdateCurrentVelocity(ConstVector3dPtr &_msg);

    protected: std::shared_ptr<Dynamics> dynamics;

    protected: std::shared_ptr<LiftDrag> liftdrag;

    protected: event::ConnectionPtr updateConnection;

    protected: transport::NodePtr node;

    protected: physics::JointPtr joint;

    protected: physics::LinkPtr link;

    protected: transport::SubscriberPtr commandSubscriber;

    protected: transport::PublisherPtr anglePublisher;

    protected: ignition::math::Vector3d finForce;

    protected: double inputCommand;

    protected: int finID;

    protected: std::string topicPrefix;

    protected: double angle;

    protected: common::Time angleStamp;

    protected: transport::SubscriberPtr currentSubscriber;

    protected: ignition::math::Vector3d currentVelocity;
};
}

#endif