HarnessPlugin.hh

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/*
 * Copyright (C) 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_PLUGINS_HARNESSPLUGIN_HH_
#define GAZEBO_PLUGINS_HARNESSPLUGIN_HH_

#include <string>
#include <vector>
#include <ignition/transport/Node.hh>

#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/common/PID.hh"
#include "gazebo/common/Plugin.hh"

namespace gazebo
{
  class GAZEBO_VISIBLE HarnessPlugin : public ModelPlugin
  {
    public: HarnessPlugin();

    public: virtual ~HarnessPlugin();

    // Documentation Inherited.
    public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);

    // Documentation Inherited.
    public: virtual void Init();

    public: void SetWinchVelocity(const float _value);

    public: double WinchVelocity() const;

    public: void Detach();

    private: void OnUpdate(const common::UpdateInfo &_info);

    private: void OnVelocity(ConstGzStringPtr &_msg);

    private: void OnDetach(ConstGzStringPtr &_msg);

    private: int JointIndex(const std::string &_name) const;

    private: std::vector<physics::JointPtr> joints;

    private: int winchIndex = 0;

    private: int detachIndex = 0;

    private: common::PID winchPosPID;

    private: common::PID winchVelPID;

    private: float winchTargetPos = 0.0;

    private: float winchTargetVel = 0.0;

    private: common::Time prevSimTime = common::Time::Zero;

    private: transport::NodePtr node;

    private: transport::SubscriberPtr velocitySub;

    private: transport::SubscriberPtr detachSub;

    private: event::ConnectionPtr updateConnection;

    // Place ignition::transport objects at the end of this file to
    // guarantee they are destructed first.

    private: ignition::transport::Node nodeIgn;
  };
}
#endif