ActuatorPlugin.hh

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/*
 * Copyright (C) 2015 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.
 *
*/

#ifndef GAZEBO_PLUGINS_ACTUATORPLUGIN_
#define GAZEBO_PLUGINS_ACTUATORPLUGIN_

#include <functional>
#include <vector>
#include <string>
#include <gazebo/common/Events.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/gazebo.hh>


namespace gazebo
{
  class ActuatorProperties
  {
    public: std::string name;

    public: int jointIndex;

    public: float power;

    public: float maximumVelocity;

    public: float maximumTorque;

    public: std::function<float (float, float, const ActuatorProperties&)>
              modelFunction;
  };

  class GAZEBO_VISIBLE ActuatorPlugin : public ModelPlugin
  {
    public: void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);

    private: void WorldUpdateCallback();

    private: std::vector<physics::JointPtr> joints;

    private: std::vector<ActuatorProperties> actuators;

    private: std::vector<event::ConnectionPtr> connections;
  };

  // Register this plugin with the simulator
  GZ_REGISTER_MODEL_PLUGIN(ActuatorPlugin)
}

#endif