TrackedVehiclePlugin.hh

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/*
 * Copyright (C) 2017 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_TRACKEDVEHICLEPLUGIN_HH_
#define GAZEBO_PLUGINS_TRACKEDVEHICLEPLUGIN_HH_

#include <string>
#include <unordered_map>

#include <boost/algorithm/string.hpp>
#include <boost/optional.hpp>

#include <gazebo/physics/ode/ODELink.hh>
#include <gazebo/physics/ode/ODECollision.hh>

#include "gazebo/common/Plugin.hh"
#include "gazebo/physics/physics.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/msgs/pose.pb.h"
#include "gazebo/msgs/twist.pb.h"
#include "plugins/TrackedVehiclePlugin.hh"

namespace gazebo
{
  enum class Tracks : bool { LEFT, RIGHT };
}

namespace std
{
  template <> struct hash<gazebo::Tracks>
  {
    size_t operator() (const gazebo::Tracks &_t) const
    {
      return size_t(_t);
    }
  };
}

namespace gazebo
{
  class TrackedVehiclePluginPrivate;

  class TrackedVehiclePlugin : public ModelPlugin
  {
    public: TrackedVehiclePlugin();

    public: virtual ~TrackedVehiclePlugin();

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

    public: void Init() override;

    public: void Reset() override;

    protected: virtual std::string GetRobotNamespace();

    protected: virtual double GetSteeringEfficiency();

    protected: virtual void SetSteeringEfficiency(double _steeringEfficiency);

    protected: virtual boost::optional<double> GetTrackMu();

    protected: virtual void SetTrackMu(double _mu);

    protected: virtual boost::optional<double> GetTrackMu2();

    protected: virtual void SetTrackMu2(double _mu2);

    protected: virtual void UpdateTrackSurface() = 0;

    protected: void SetLinkMu(const physics::LinkPtr &_link);

    protected: virtual double GetTracksSeparation();

    protected: std::unordered_map<Tracks, std::string> trackNames;

    protected: virtual void SetTrackVelocityImpl(double _left,
                                                 double _right) = 0;

    protected: virtual void SetTrackVelocity(double _left, double _right);

    // body motion.
    protected: void SetBodyVelocity(
        double _linear, double _angular);  // TODO peci1: make virtual

    protected: virtual void OnVelMsg(ConstPosePtr &_msg) GAZEBO_DEPRECATED(9.0);

    protected: void OnVelMsg(ConstTwistPtr &_msg);  // TODO peci1: make virtual

    protected: std::mutex mutex;

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