SkidSteerDrivePlugin.hh

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/*
 * Copyright (C) 2012 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_SKIDSTEERDRIVEPLUGIN_HH_
#define GAZEBO_PLUGINS_SKIDSTEERDRIVEPLUGIN_HH_

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

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

#define NUMBER_OF_WHEELS 4

namespace gazebo
{
  // \class SkidSteerDrivePlugin SkidSteerDrivePlugin.hh
  class GZ_PLUGIN_VISIBLE SkidSteerDrivePlugin : public ModelPlugin
  {
    public: SkidSteerDrivePlugin();

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

    public: enum {RIGHT_FRONT, RIGHT_REAR, LEFT_FRONT, LEFT_REAR};

    private: int RegisterJoint(int _index, const std::string &_name);

    private: void OnVelMsg(ConstPosePtr &_msg);

    private: transport::NodePtr node;

    private: transport::SubscriberPtr velSub;

    private: physics::ModelPtr model;

    private: physics::JointPtr joints[NUMBER_OF_WHEELS];

    private: double wheelSeparation;

    private: double wheelRadius;

    // Place ignition::transport objects at the end of this file to
    // guarantee they are destructed first.

    private: ignition::transport::Node nodeIgn;
  };
}
#endif