58 lines
1.8 KiB
C++
58 lines
1.8 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_CART_DEMO_PLUGIN_HH_
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#define _GAZEBO_CART_DEMO_PLUGIN_HH_
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#include "gazebo/common/Plugin.hh"
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#include "gazebo/physics/physics.hh"
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#include "gazebo/transport/TransportTypes.hh"
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#include "gazebo/util/system.hh"
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#define NUM_JOINTS 3
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namespace gazebo
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{
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/// \brief This plugin drives a four wheeled cart model forward and back
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/// by applying a small wheel torque. Steering is controlled via
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/// a position pid.
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/// this is a test for general rolling contact stability.
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/// should refine the test to be more specific in the future.
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class GAZEBO_VISIBLE CartDemoPlugin : public ModelPlugin
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{
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public: CartDemoPlugin();
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public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
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public: virtual void Init();
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private: void OnUpdate();
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private: transport::NodePtr node;
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private: event::ConnectionPtr updateConnection;
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private: physics::ModelPtr model;
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private: physics::JointPtr joints[NUM_JOINTS];
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private: common::PID jointPIDs[NUM_JOINTS];
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private: double jointPositions[NUM_JOINTS];
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private: double jointVelocities[NUM_JOINTS];
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private: double jointMaxEfforts[NUM_JOINTS];
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private: common::Time prevUpdateTime;
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};
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}
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#endif
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