WheelTrackedVehiclePlugin.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_WHEELTRACKEDVEHICLEPLUGIN_HH
#define GAZEBO_WHEELTRACKEDVEHICLEPLUGIN_HH


#include <memory>
#include <string>
#include <unordered_map>
#include <vector>

#include "gazebo/physics/Joint.hh"

#include "plugins/TrackedVehiclePlugin.hh"

namespace gazebo
{
  class WheelTrackedVehiclePlugin :
    public TrackedVehiclePlugin
  {
    public: WheelTrackedVehiclePlugin() = default;

    public: virtual ~WheelTrackedVehiclePlugin() = default;

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

    public: void Init() override;

    public: void Reset() override;

    protected: void SetTrackVelocityImpl(double _left, double _right) override;

    protected: void UpdateTrackSurface() override;

    protected: void LoadWheel(physics::ModelPtr &_model, Tracks &_track,
                              const std::string &_jointName);

    protected: struct WheelInfo
    {
      physics::JointPtr joint;

      std::string jointName;

      // cppcheck-suppress unusedStructMember
      double radius;
    };

    typedef std::shared_ptr<WheelInfo> WheelInfoPtr;
    typedef std::vector<WheelInfoPtr> WheelInfo_V;

    protected: std::unordered_map<Tracks, WheelInfo_V> wheels;

    protected: std::unordered_map<Tracks, double> trackVelocity;

    protected: double defaultWheelRadius;

    protected: physics::WorldPtr world;

    protected: std::mutex mutex;

    private: event::ConnectionPtr updateConnection;

    private: void OnUpdate();
  };
}

#endif