69 lines
2.0 KiB
C++
69 lines
2.0 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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/*
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* Desc: a test for setting joint angles
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* Author: John Hsu
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*/
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#ifndef GAZEBO_JOINT_TRAJECTORY_PLUGIN_HH
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#define GAZEBO_JOINT_TRAJECTORY_PLUGIN_HH
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#include <boost/thread.hpp>
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#include <boost/thread/mutex.hpp>
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#include "gazebo/physics/physics.hh"
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#include "gazebo/transport/TransportTypes.hh"
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#include "gazebo/common/Time.hh"
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#include "gazebo/common/Plugin.hh"
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#include "gazebo/common/Events.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 JointTrajectoryPlugin : public ModelPlugin
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{
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/// \brief Constructor
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public: JointTrajectoryPlugin();
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/// \brief Destructor
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public: virtual ~JointTrajectoryPlugin();
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/// \brief Load the controller
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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 UpdateStates(const common::UpdateInfo &_info);
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// This function is commented out because it is not used.
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// private: void FixLink(physics::LinkPtr link);
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// This function is commented out because it is not used.
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// private: void UnfixLink();
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private: physics::WorldPtr world;
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private: physics::ModelPtr model;
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private: physics::JointPtr joint;
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private: boost::mutex update_mutex;
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// Pointer to the update event connection
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private: event::ConnectionPtr updateConnection;
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};
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}
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#endif
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