53 lines
1.6 KiB
C++
53 lines
1.6 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_DIFFDRIVE_PLUGIN_HH_
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#define _GAZEBO_DIFFDRIVE_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/gazebo.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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class GAZEBO_VISIBLE DiffDrivePlugin : public ModelPlugin
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{
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public: DiffDrivePlugin();
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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: void OnVelMsg(ConstPosePtr &_msg);
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private: transport::NodePtr node;
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private: transport::SubscriberPtr velSub;
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private: physics::ModelPtr model;
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private: physics::JointPtr leftJoint, rightJoint;
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private: event::ConnectionPtr updateConnection;
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private: double wheelSpeed[2];
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private: double wheelSeparation;
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private: double wheelRadius;
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private: common::Time prevUpdateTime;
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private: physics::LinkPtr link, leftWheelLink, rightWheelLink;
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};
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}
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#endif
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