GimbalSmall2dPlugin.hh
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1 /*
2  * Copyright (C) 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 #ifndef GAZEBO_PLUGINS_GIMBALSMALL2DPLUGIN_HH_
18 #define GAZEBO_PLUGINS_GIMBALSMALL2DPLUGIN_HH_
19 
20 #include "gazebo/common/Plugin.hh"
21 #include "gazebo/physics/physics.hh"
22 #include "gazebo/util/system.hh"
23 
24 namespace gazebo
25 {
26  // Forward declare private data class
27  class GimbalSmall2dPluginPrivate;
28 
31  {
33  public: GimbalSmall2dPlugin();
34 
35  // Documentation Inherited.
36  public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
37 
38  // Documentation Inherited.
39  public: virtual void Init();
40 
42  private: void OnUpdate();
43 
45  private: std::unique_ptr<GimbalSmall2dPluginPrivate> dataPtr;
46  };
47 }
48 #endif
A plugin for controlling the angle of a gimbal joint.
Definition: GimbalSmall2dPlugin.hh:30
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