WheelSlipPlugin.hh

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/*
 * Copyright (C) 2018 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_WHEELSLIPPLUGIN_HH_
#define GAZEBO_PLUGINS_WHEELSLIPPLUGIN_HH_

#include <map>
#include <memory>
#include <string>

#include <ignition/math/Vector3.hh>

#include <gazebo/common/Plugin.hh>
#include <gazebo/util/system.hh>

namespace gazebo
{
  // Forward declare private data class
  class WheelSlipPluginPrivate;


  class GAZEBO_VISIBLE WheelSlipPlugin : public ModelPlugin
  {
    public: WheelSlipPlugin();

    public: virtual ~WheelSlipPlugin();

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

    // Documentation inherited
    public: virtual void Fini();

    public: physics::ModelPtr GetParentModel() const;

    public: void GetSlips(std::map<std::string, ignition::math::Vector3d> &_out)
            const;

    public: void SetSlipComplianceLateral(const double _compliance);

    public: void SetSlipComplianceLongitudinal(const double _compliance);

    private: void OnLateralCompliance(ConstGzStringPtr &_msg);

    private: void OnLongitudinalCompliance(ConstGzStringPtr &_msg);

    private: void Update();

    private: std::unique_ptr<WheelSlipPluginPrivate> dataPtr;
  };
}
#endif