18 #ifndef GAZEBO_PLUGINS_ACTORPLUGIN_HH_
19 #define GAZEBO_PLUGINS_ACTORPLUGIN_HH_
25 #include "gazebo/physics/physics.hh"
41 public:
virtual void Reset();
48 private:
void ChooseNewTarget();
54 private:
void HandleObstacles(ignition::math::Vector3d &_pos);
63 private: sdf::ElementPtr sdf;
66 private: ignition::math::Vector3d velocity;
69 private: std::vector<event::ConnectionPtr> connections;
72 private: ignition::math::Vector3d target;
75 private:
double targetWeight = 1.0;
78 private:
double obstacleWeight = 1.0;
82 private:
double animationFactor = 1.0;
88 private: std::vector<std::string> ignoreModels;
boost::shared_ptr< Actor > ActorPtr
Definition: PhysicsTypes.hh:97
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
std::shared_ptr< TrajectoryInfo > TrajectoryInfoPtr
Definition: PhysicsTypes.hh:101
Information for use in an update event.
Definition: UpdateInfo.hh:30
Definition: ActorPlugin.hh:30
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
A plugin with access to physics::Model.
Definition: Plugin.hh:260
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:59
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:44