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 <memory>
#include <string>
#include <vector>

#include "gazebo/common/Plugin.hh"

namespace gazebo
{
  // Forward declare private data class
  class HarnessPluginPrivate;

  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 Attach(const ignition::math::Pose3d &_pose);

    public: void Detach();

    private: void Attach();

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

    private: void OnVelocity(ConstGzStringPtr &_msg);

    private: void OnAttach(ConstPosePtr &_msg);

    private: void OnDetach(ConstGzStringPtr &_msg);

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

    private: std::unique_ptr<HarnessPluginPrivate> dataPtr;
  };
}
#endif