gazebo_ros_magnetic.h
Go to the documentation of this file.00001 //================================================================================================= 00002 // Copyright (c) 2012, Johannes Meyer, TU Darmstadt 00003 // All rights reserved. 00004 00005 // Redistribution and use in source and binary forms, with or without 00006 // modification, are permitted provided that the following conditions are met: 00007 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of the Flight Systems and Automatic Control group, 00013 // TU Darmstadt, nor the names of its contributors may be used to 00014 // endorse or promote products derived from this software without 00015 // specific prior written permission. 00016 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 //================================================================================================= 00028 00029 #ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_MAGNETIC_H 00030 #define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_MAGNETIC_H 00031 00032 #include <gazebo/Controller.hh> 00033 #include <gazebo/Entity.hh> 00034 #include <gazebo/Model.hh> 00035 #include <gazebo/Body.hh> 00036 #include <gazebo/Param.hh> 00037 #include <gazebo/Time.hh> 00038 00039 #include <ros/ros.h> 00040 #include <geometry_msgs/Vector3Stamped.h> 00041 #include <hector_gazebo_plugins/sensor_model.h> 00042 00043 namespace gazebo 00044 { 00045 00046 class GazeboRosMagnetic : public Controller 00047 { 00048 public: 00049 GazeboRosMagnetic(Entity *parent); 00050 virtual ~GazeboRosMagnetic(); 00051 00052 protected: 00053 virtual void LoadChild(XMLConfigNode *node); 00054 virtual void InitChild(); 00055 virtual void UpdateChild(); 00056 virtual void FiniChild(); 00057 00058 private: 00059 Model *parent_; 00060 Body *body_; 00061 00062 ros::NodeHandle* node_handle_; 00063 ros::Publisher publisher_; 00064 00065 geometry_msgs::Vector3Stamped magnetic_field_; 00066 gazebo::Vector3 magnetic_field_world_; 00067 00068 ParamT<std::string> *body_name_; 00069 ParamT<std::string> *namespace_; 00070 ParamT<std::string> *topic_; 00071 00072 ParamT<double> *magnitude_; 00073 ParamT<double> *reference_heading_; 00074 ParamT<double> *declination_; 00075 ParamT<double> *inclination_; 00076 00077 SensorModel3 sensor_model_; 00078 }; 00079 00080 } // namespace gazebo 00081 00082 #endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_MAGNETIC_H