RandomVelocityPluginPrivate.hh
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1 /*
2  * Copyright (C) 2015-2016 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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13  * See the License for the specific language governing permissions and
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16 */
17 #ifndef _GAZEBO_RANDOMVELOCITY_PLUGIN_PRIVATE_HH_
18 #define _GAZEBO_RANDOMVELOCITY_PLUGIN_PRIVATE_HH_
19 
20 #include <ignition/math/Vector3.hh>
21 #include <ignition/math/Vector2.hh>
22 
23 #include <gazebo/physics/Link.hh>
24 #include <gazebo/common/Time.hh>
25 
26 namespace gazebo
27 {
31  {
33  : velocityFactor(1.0),
34  updatePeriod(10, 0),
35  xRange(-IGN_DBL_MAX, IGN_DBL_MAX),
36  yRange(-IGN_DBL_MAX, IGN_DBL_MAX),
37  zRange(-IGN_DBL_MAX, IGN_DBL_MAX)
38  {
39  }
40 
42  public: double velocityFactor;
43 
46 
49 
51  public: ignition::math::Vector3d velocity;
52 
55 
57  public: ignition::math::Vector2d xRange;
58 
60  public: ignition::math::Vector2d yRange;
61 
63  public: ignition::math::Vector2d zRange;
64 
67  };
68 }
69 #endif
double velocityFactor
Velocity scaling factor.
Definition: RandomVelocityPluginPrivate.hh:42
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:153
Definition: RandomVelocityPluginPrivate.hh:30
event::ConnectionPtr updateConnection
Connects to world update event.
Definition: RandomVelocityPluginPrivate.hh:54
ignition::math::Vector2d zRange
Z velocity clamping values.
Definition: RandomVelocityPluginPrivate.hh:63
ignition::math::Vector2d yRange
Y velocity clamping values.
Definition: RandomVelocityPluginPrivate.hh:60
ignition::math::Vector2d xRange
X velocity clamping values.
Definition: RandomVelocityPluginPrivate.hh:57
common::Time updatePeriod
Time between recomputing a new velocity vector.
Definition: RandomVelocityPluginPrivate.hh:45
RandomVelocityPluginPrivate()
Definition: RandomVelocityPluginPrivate.hh:32
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:100
physics::LinkPtr link
Pointer to the link that will receive the velocity.
Definition: RandomVelocityPluginPrivate.hh:66
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:44
common::Time prevUpdate
Time the of the last update.
Definition: RandomVelocityPluginPrivate.hh:48
ignition::math::Vector3d velocity
Velocity to apply.
Definition: RandomVelocityPluginPrivate.hh:51