18 #ifndef GAZEBO_PLUGINS_ACTUATORPLUGIN_
19 #define GAZEBO_PLUGINS_ACTUATORPLUGIN_
25 #include <gazebo/physics/physics.hh>
80 public: std::function<float (float, float, const ActuatorProperties&)>
91 private:
void WorldUpdateCallback();
94 private: std::vector<physics::JointPtr> joints;
97 private: std::vector<ActuatorProperties> actuators;
100 private: std::vector<event::ConnectionPtr> connections;
Plugin for simulating a torque-speed curve for actuators.
Definition: ActuatorPlugin.hh:85
#define GZ_REGISTER_MODEL_PLUGIN(classname)
Plugin registration function for model plugin.
Definition: Plugin.hh:376
std::function< float(float, float, const ActuatorProperties &)> modelFunction
Function used to calculate motor output.
Definition: ActuatorPlugin.hh:81
float power
Mechanical power output of the actuator (Watts)
Definition: ActuatorPlugin.hh:67
float maximumTorque
Maximum torque of the actuator (Newton-meters)
Definition: ActuatorPlugin.hh:73
Properties for a model of a rotational actuator.
Definition: ActuatorPlugin.hh:58
std::string name
An identifier for the actuator.
Definition: ActuatorPlugin.hh:61
int jointIndex
Which joint index is actuated by this actuator.
Definition: ActuatorPlugin.hh:64
float maximumVelocity
Maximum velocity of the actuator (radians per second)
Definition: ActuatorPlugin.hh:70
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