FollowerPlugin.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_FOLLOWERPLUGIN_HH_
#define GAZEBO_PLUGINS_FOLLOWERPLUGIN_HH_

#include <memory>
#include <string>

#include <sdf/sdf.hh>

#include <gazebo/common/Plugin.hh>
#include <gazebo/physics/PhysicsTypes.hh>

namespace gazebo
{
  // Forward declare private class
  struct FollowerPluginPrivate;

  class GZ_PLUGIN_VISIBLE FollowerPlugin : public ModelPlugin
  {
    public: FollowerPlugin();

    public: ~FollowerPlugin();

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

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

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

    private: void OnNewDepthFrame(const float *_image,
                const unsigned int _width, const unsigned int _height,
                const unsigned int _depth, const std::string &_format);

    private: void OnUpdate();

    private: bool FindSensor(const physics::ModelPtr &_model);

    private: void FindJoints();

    private: void UpdateFollower();

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