gazebo_ros_hand_of_god.h
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1 /*
2  * Copyright (C) 2012-2014 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 /*
18  * Desc: 3D position interface.
19  * Author: Sachin Chitta and John Hsu
20  * Date: 10 June 2008
21  */
22 
23 #ifndef GAZEBO_ROS_TEMPLATE_HH
24 #define GAZEBO_ROS_TEMPLATE_HH
25 
26 #include <ros/ros.h>
27 
28 #include <gazebo/physics/physics.hh>
29 #include <gazebo/transport/TransportTypes.hh>
30 #include <gazebo/common/Time.hh>
31 #include <gazebo/common/Plugin.hh>
32 #include <gazebo/common/Events.hh>
33 
36 
37 namespace gazebo
38 {
39 
40  class GazeboRosHandOfGod : public ModelPlugin
41  {
43  public: GazeboRosHandOfGod();
44 
46  public: virtual ~GazeboRosHandOfGod();
47 
49  public: void Load( physics::ModelPtr _parent, sdf::ElementPtr _sdf );
50 
52  protected: virtual void GazeboUpdate();
53 
55  private: event::ConnectionPtr update_connection_;
59  physics::ModelPtr model_;
60  physics::LinkPtr floating_link_;
61  std::string link_name_;
62  std::string robot_namespace_;
63  std::string frame_id_;
64  double kl_, ka_;
65  double cl_, ca_;
66  };
67 
68 }
69 
70 #endif
71 
event::ConnectionPtr update_connection_
Pointer to the update event connection.
boost::shared_ptr< tf2_ros::Buffer > tf_buffer_
void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
Load the controller.
virtual ~GazeboRosHandOfGod()
Destructor.
boost::shared_ptr< tf2_ros::TransformBroadcaster > tf_broadcaster_
boost::shared_ptr< tf2_ros::TransformListener > tf_listener_
virtual void GazeboUpdate()
Update the controller.


gazebo_plugins
Author(s): John Hsu
autogenerated on Wed Aug 24 2022 02:47:52