72 lines
2.2 KiB
C++
72 lines
2.2 KiB
C++
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/*
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* Copyright (C) 2014 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 _SPHERE_HYDRADEMO_PLUGIN_HH_
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#define _SPHERE_HYDRADEMO_PLUGIN_HH_
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#include <boost/thread/mutex.hpp>
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#include "gazebo/physics/physics.hh"
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/transport/TransportTypes.hh"
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#include "gazebo/common/Plugin.hh"
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#include "gazebo/common/Events.hh"
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namespace gazebo
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{
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class GAZEBO_VISIBLE HydraDemoPlugin : public ModelPlugin
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{
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/// \brief Constructor
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public: HydraDemoPlugin();
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/// \brief Destructor
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public: virtual ~HydraDemoPlugin();
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// Documentation Inherited.
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public: void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
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/// \brief Update the controller
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/// \param[in] _info Update information provided by the server.
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private: void Update(const common::UpdateInfo &_info);
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/// \brief Callback executed every time a new hydra message is received.
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/// \param[in] _msg The hydra message.
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private: void OnHydra(ConstHydraPtr &_msg);
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/// \brief World pointer
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private: physics::WorldPtr world;
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/// \brief Model pointer
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private: physics::ModelPtr model;
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/// \brief Node used for using Gazebo communications.
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private: transport::NodePtr node;
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/// \brief Subscribe pointer.
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private: transport::SubscriberPtr hydraSub;
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/// \brief Pointer to the update event connection
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private: event::ConnectionPtr updateConnection;
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/// \brief Mutex to protect hydraMsgPtr.
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private: boost::mutex msgMutex;
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/// \brief Store the last message from hydra.
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private: boost::shared_ptr<const gazebo::msgs::Hydra> hydraMsgPtr;
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};
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}
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#endif
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