17 #ifndef GAZEBO_PLUGINS_SPHEREATLASDEMOPLUGIN_HH_
18 #define GAZEBO_PLUGINS_SPHEREATLASDEMOPLUGIN_HH_
24 #include "gazebo/physics/physics.hh"
33 public:
virtual void Init();
34 public:
virtual void Reset();
36 private:
void OnUpdate();
41 private: std::vector<std::string> jointNames;
46 private: std::vector<double> qp;
47 private: std::vector<double> jointKp;
48 private: std::vector<double> jointKd;
Definition: SphereAtlasDemoPlugin.hh:29
std::vector< JointPtr > Joint_V
Definition: PhysicsTypes.hh:213
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
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
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:44