BreakableJointPlugin.hh
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1 /*
2  * Copyright (C) 2013-2016 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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17 
18 #ifndef _GAZEBO_BREAKABLE_JOINT_PLUGIN_HH_
19 #define _GAZEBO_BREAKABLE_JOINT_PLUGIN_HH_
20 
22 #include "gazebo/sensors/sensors.hh"
23 #include "gazebo/common/Plugin.hh"
24 #include "gazebo/common/Events.hh"
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
31  {
33  public: BreakableJointPlugin();
34 
36  public: virtual ~BreakableJointPlugin();
37 
41  public: virtual void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
42 
45  protected: virtual void OnUpdate(msgs::WrenchStamped _msg);
46 
48  protected: void OnWorldUpdate();
49 
51  private: physics::JointPtr parentJoint;
52 
54  private: event::ConnectionPtr worldConnection;
55 
57  private: double breakingForce;
58  };
59 }
60 #endif
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:153
A plugin for breakable joints, based on a ForceTorque sensor plugin.
Definition: BreakableJointPlugin.hh:30
An base class plugin for custom force torque sensor processing.
Definition: ForceTorquePlugin.hh:29
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:108
std::shared_ptr< Sensor > SensorPtr
Definition: SensorTypes.hh:63
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:59