JointControllerPrivate.hh

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/*
 * Copyright (C) 2014-2016 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_JOINTCONTROLLER_PRIVATE_HH_
#define _GAZEBO_JOINTCONTROLLER_PRIVATE_HH_

#include <string>
#include <map>

#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/common/CommonTypes.hh"
#include "gazebo/common/PID.hh"
#include "gazebo/physics/PhysicsTypes.hh"

namespace gazebo
{
  namespace physics
  {
    class JointControllerPrivate
    {
      public: ModelPtr model;

      public: Link_V updatedLinks;

      public: std::map<std::string, JointPtr> joints;

      public: std::map<std::string, common::PID> posPids;

      public: std::map<std::string, common::PID> velPids;

      public: std::map<std::string, double> forces;

      public: std::map<std::string, double> positions;

      public: std::map<std::string, double> velocities;

      public: transport::NodePtr node;

      public: transport::SubscriberPtr jointCmdSub;

      public: common::Time prevUpdateTime;
    };
  }
}
#endif