ConveyorBeltPlugin.hh

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/*
 * Copyright (C) 2012-2016 Open Source Robotics Foundation
 *
 * 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.
 *
*/
/*
 * Desc: Conveyor Belt Plugin
 * Author: Deanna Hood
 */
#ifndef _GAZEBO_CONVEYOR_BELT_PLUGIN_HH_
#define _GAZEBO_CONVEYOR_BELT_PLUGIN_HH_

#include <string>

#include "SideContactPlugin.hh"
#include <gazebo/msgs/msgs.hh>
#include <gazebo/sensors/sensors.hh>
#include <gazebo/util/system.hh>
#include <ignition/math/Vector3.hh>

namespace gazebo
{
  class GAZEBO_VISIBLE ConveyorBeltPlugin : public SideContactPlugin
  {
    public: ConveyorBeltPlugin();

    public: virtual ~ConveyorBeltPlugin();

    public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);

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

    protected: transport::NodePtr node;

    protected: transport::SubscriberPtr controlCommandSub;

    protected: void OnControlCommand(ConstHeaderPtr& _msg);

    protected: ignition::math::Vector3d velocityAxis;

    protected: double beltVelocity;

    protected: std::mutex mutex;

    public: void SetVelocity(double velocity);

    protected: std::string Topic(std::string topicName) const;

    protected: void ActOnContactingLinks(double velocity);
  };
}
#endif