51 lines
1.5 KiB
C++
51 lines
1.5 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_FORCETORQUE_MODEL_REMOVAL_TEST_PLUGIN_HH_
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#define _GAZEBO_FORCETORQUE_MODEL_REMOVAL_TEST_PLUGIN_HH_
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#include <gazebo/common/Plugin.hh>
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#include <gazebo/common/UpdateInfo.hh>
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#include <string>
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namespace gazebo
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{
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namespace sensors {
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class ForceTorqueSensor;
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}
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class GAZEBO_VISIBLE ForceTorqueModelRemovalTestPlugin : public SensorPlugin
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{
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public: ForceTorqueModelRemovalTestPlugin();
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public: virtual ~ForceTorqueModelRemovalTestPlugin();
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public: virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
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public: void onUpdate(const gazebo::common::UpdateInfo & /*_info*/);
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private: virtual void Init();
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private: sensors::ForceTorqueSensor* parentSensor;
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private: std::string sensorName;
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private: double forcetorque_data[6];
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private: gazebo::event::ConnectionPtr updateConnection;
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};
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}
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#endif
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