83 lines
2.5 KiB
C++
83 lines
2.5 KiB
C++
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/*
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* Copyright (C) 2015 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_ELEVATOR_PLUGIN_HH_
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#define _GAZEBO_ELEVATOR_PLUGIN_HH_
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#include <string>
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#include <sdf/sdf.hh>
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#include <gazebo/msgs/msgs.hh>
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#include <gazebo/common/UpdateInfo.hh>
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#include <gazebo/common/Plugin.hh>
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#include <gazebo/util/system.hh>
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namespace gazebo
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{
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/// Forward declare private data.
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class ElevatorPluginPrivate;
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/// \brief Plugin to control a elevator. This plugin will listen for
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/// door and lift events on a specified topic.
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///
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/// \verbatim
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/// <plugin filename="libElevatorPlugin.so" name="elevator_plugin">
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/// <lift_joint>elevator::lift</lift_joint>
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/// <door_joint>elevator::door</door_joint>
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/// <floor_height>3.075</floor_height>
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///
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/// <!-- Time the elevator door will stay open in seconds -->
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/// <door_wait_time>5</door_wait_time>
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///
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/// <topic>~/elevator</topic>
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/// </plugin>
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/// \endverbatim
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///
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/// See worlds/elevator.world for a complete example.
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class GAZEBO_VISIBLE ElevatorPlugin : public ModelPlugin
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{
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/// \brief Constructor.
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public: ElevatorPlugin();
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/// \brief Destructor.
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public: ~ElevatorPlugin();
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// Documentation inherited
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public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
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// Documentation inherited
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public: virtual void Reset();
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/// \brief Move to a particular floor.
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/// \param[in] _floor Number of the floor to move the elevator to.
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public: void MoveToFloor(const int _floor);
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/// \brief Update the plugin once every iteration of simulation.
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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 Receives messages on the elevator's topic.
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/// \param[in] _msg The string message that contains a command.
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private: void OnElevator(ConstGzStringPtr &_msg);
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/// \brief Private data pointer
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private: ElevatorPluginPrivate *dataPtr;
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};
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}
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#endif
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