17 #ifndef GAZEBO_PLUGINS_CARTDEMOPLUGIN_HH_
18 #define GAZEBO_PLUGINS_CARTDEMOPLUGIN_HH_
19 #include <ignition/transport/Node.hh>
23 #include "gazebo/physics/physics.hh"
40 public:
virtual void Init();
42 private:
void OnUpdate();
62 private: ignition::transport::Node nodeIgn;
This plugin drives a four wheeled cart model forward and back by applying a small wheel torque...
Definition: CartDemoPlugin.hh:36
Forward declarations for transport.
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:117
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
#define NUM_JOINTS
Definition: CartDemoPlugin.hh:27
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
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:260
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:59
Generic PID controller class.
Definition: PID.hh:36
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:44