HarnessPlugin.hh
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1 /*
2  * Copyright (C) 2016 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.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef GAZEBO_PLUGINS_HARNESSPLUGIN_HH_
18 #define GAZEBO_PLUGINS_HARNESSPLUGIN_HH_
19 
20 #include <memory>
21 #include <string>
22 #include <vector>
23 
24 #include "gazebo/common/Plugin.hh"
25 
26 namespace gazebo
27 {
28  // Forward declare private data class
29  class HarnessPluginPrivate;
30 
58  class GZ_PLUGIN_VISIBLE HarnessPlugin : public ModelPlugin
59  {
61  public: HarnessPlugin();
62 
64  public: virtual ~HarnessPlugin();
65 
66  // Documentation Inherited.
67  public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
68 
69  // Documentation Inherited.
70  public: virtual void Init();
71 
74  public: void SetWinchVelocity(const float _value);
75 
78  public: double WinchVelocity() const;
79 
83  public: void Attach(const ignition::math::Pose3d &_pose);
84 
87  public: void Detach();
88 
91  private: void Attach();
92 
95  private: void OnUpdate(const common::UpdateInfo &_info);
96 
99  private: void OnVelocity(ConstGzStringPtr &_msg);
100 
103  private: void OnAttach(ConstPosePtr &_msg);
104 
107  private: void OnDetach(ConstGzStringPtr &_msg);
108 
112  private: int JointIndex(const std::string &_name) const;
113 
116  private: std::unique_ptr<HarnessPluginPrivate> dataPtr;
117  };
118 }
119 #endif
Forward declarations for the common classes.
Definition: Animation.hh:26
Information for use in an update event.
Definition: UpdateInfo.hh:30
This plugin is designed to lower a model at a controlled rate.
Definition: HarnessPlugin.hh:58
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:94
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:303