BuoyancyPlugin.hh

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/*
 * Copyright (C) 2015 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_BUOYANCY_PLUGIN_HH_
#define _GAZEBO_BUOYANCY_PLUGIN_HH_

#include <map>
#include "gazebo/common/Event.hh"
#include "gazebo/common/Plugin.hh"
#include "gazebo/math/Vector3.hh"
#include "gazebo/physics/physics.hh"

namespace gazebo
{
  class VolumeProperties
  {
    public: VolumeProperties() : volume(0) {}

    public: math::Vector3 cov;

    public: double volume;
  };

  class GAZEBO_VISIBLE BuoyancyPlugin : public ModelPlugin
  {
    public: BuoyancyPlugin();

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

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

    protected: virtual void OnUpdate();

    protected: event::ConnectionPtr updateConnection;

    protected: physics::ModelPtr model;

    protected: physics::PhysicsEnginePtr physicsEngine;

    protected: sdf::ElementPtr sdf;

    protected: double fluidDensity;

    protected: std::map<int, VolumeProperties> volPropsMap;
  };
}

#endif