KeysToCmdVelPlugin.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_KEYSTOCMDVELPLUGIN_HH_
#define GAZEBO_PLUGINS_KEYSTOCMDVELPLUGIN_HH_

#include <memory>
#include <string>
#include <vector>
#include <ignition/transport/Node.hh>

#include <gazebo/common/Plugin.hh>
#include <gazebo/transport/Node.hh>

namespace gazebo
{
  class CmdVelKeyboardControls;
  class KeysToCmdVelPluginPrivate;


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

    public: ~KeysToCmdVelPlugin();

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

    // Documentation inherited
    public: void Init() override;

    // Documentation inherited
    public: void Reset() override;

    protected: virtual void OnKeyPress(ConstAnyPtr &_msg);

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