VehiclePlugin.hh
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1 /*
2  * Copyright (C) 2012-2016 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
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 /* Desc: A 4-wheeled vehicle
18  * Author: Nate Koenig
19  */
20 
21 #ifndef _GAZEBO_VEHICLE_PLUGIN_HH_
22 #define _GAZEBO_VEHICLE_PLUGIN_HH_
23 
24 #include <string>
25 #include <vector>
26 
27 #include "gazebo/common/Plugin.hh"
28 #include "gazebo/physics/physics.hh"
29 #include "gazebo/transport/transport.hh"
30 #include "gazebo/util/system.hh"
31 
32 namespace gazebo
33 {
35  {
37  public: VehiclePlugin();
38 
39  public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
40  public: virtual void Init();
41 
42  private: void OnUpdate();
43 
44  private: void OnVelMsg(ConstPosePtr &_msg);
45 
46  private: std::vector<event::ConnectionPtr> connections;
47 
48  private: physics::ModelPtr model;
49  private: physics::LinkPtr chassis;
50  private: std::vector<physics::JointPtr> joints;
51  private: physics::JointPtr gasJoint, brakeJoint;
52  private: physics::JointPtr steeringJoint;
53 
54  private: math::Vector3 velocity;
55 
56  private: transport::NodePtr node;
57  private: transport::SubscriberPtr velSub;
58 
59  private: double frontPower, rearPower;
60  private: double maxSpeed;
61  private: double wheelRadius;
62 
63  private: double steeringRatio;
64  private: double tireAngleRange;
65  private: double maxGas, maxBrake;
66 
67  private: double aeroLoad;
68  private: double swayForce;
69  };
70 }
71 #endif
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:88
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
boost::shared_ptr< Subscriber > SubscriberPtr
Definition: TransportTypes.hh:53
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:108
Definition: VehiclePlugin.hh:34
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
A plugin with access to physics::Model.
Definition: Plugin.hh:245
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:59
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:100