ActorPlugin.hh

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/*
 * Copyright (C) 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.
 *
*/

#ifndef GAZEBO_PLUGINS_ACTORPLUGIN_HH_
#define GAZEBO_PLUGINS_ACTORPLUGIN_HH_

#include <string>
#include <vector>

#include "gazebo/common/Plugin.hh"
#include "gazebo/physics/physics.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  class GZ_PLUGIN_VISIBLE ActorPlugin : public ModelPlugin
  {
    public: ActorPlugin();

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

    // Documentation Inherited.
    public: virtual void Reset();

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

    private: void ChooseNewTarget();

    private: void HandleObstacles(ignition::math::Vector3d &_pos);

    private: physics::ActorPtr actor;

    private: physics::WorldPtr world;

    private: sdf::ElementPtr sdf;

    private: ignition::math::Vector3d velocity;

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

    private: ignition::math::Vector3d target;

    private: double targetWeight = 1.0;

    private: double obstacleWeight = 1.0;

    private: double animationFactor = 1.0;

    private: common::Time lastUpdate;

    private: std::vector<std::string> ignoreModels;

    private: physics::TrajectoryInfoPtr trajectoryInfo;
  };
}
#endif