KeysToCmdVelPlugin.hh
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1 /*
2  * Copyright (C) 2018 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.
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17 
18 #ifndef GAZEBO_PLUGINS_KEYSTOCMDVELPLUGIN_HH_
19 #define GAZEBO_PLUGINS_KEYSTOCMDVELPLUGIN_HH_
20 
21 #include <memory>
22 #include <string>
23 #include <vector>
24 #include <ignition/transport/Node.hh>
25 
26 #include <gazebo/common/Plugin.hh>
27 #include <gazebo/transport/Node.hh>
28 
29 namespace gazebo
30 {
31  class CmdVelKeyboardControls;
32  class KeysToCmdVelPluginPrivate;
33 
63 
65  {
67  public: KeysToCmdVelPlugin();
68 
70  public: ~KeysToCmdVelPlugin();
71 
72  // Documentation inherited
73  public: void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) override;
74 
75  // Documentation inherited
76  public: void Init() override;
77 
78  // Documentation inherited
79  public: void Reset() override;
80 
83  protected: virtual void OnKeyPress(ConstAnyPtr &_msg);
84 
87  private: std::unique_ptr<KeysToCmdVelPluginPrivate> dataPtr;
88  };
89 }
90 #endif
Forward declarations for the common classes.
Definition: Animation.hh:26
Send velocity commands to a model based on keypress messages received.
Definition: KeysToCmdVelPlugin.hh:64
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
A plugin with access to physics::Model.
Definition: Plugin.hh:305
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:59