72 lines
2.1 KiB
C++
72 lines
2.1 KiB
C++
/*
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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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#include "gazebo/physics/physics.hh"
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#include "gazebo/transport/transport.hh"
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#include "plugins/ModelTrajectoryTestPlugin.hh"
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using namespace gazebo;
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GZ_REGISTER_MODEL_PLUGIN(ModelTrajectoryTestPlugin)
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/////////////////////////////////////////////////
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ModelTrajectoryTestPlugin::ModelTrajectoryTestPlugin()
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{
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}
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/////////////////////////////////////////////////
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void ModelTrajectoryTestPlugin::Load(physics::ModelPtr _model,
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sdf::ElementPtr /*_sdf*/)
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{
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this->model = _model;
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this->node = transport::NodePtr(new transport::Node());
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this->node->Init(this->model->GetWorld()->GetName());
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this->trajSub = this->node->Subscribe(std::string("~/") +
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this->model->GetName() + "/pose_trajectory",
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&ModelTrajectoryTestPlugin::OnPoseTrajectoryMsg, this);
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this->updateConnection = event::Events::ConnectWorldUpdateBegin(
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boost::bind(&ModelTrajectoryTestPlugin::OnUpdate, this));
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}
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/////////////////////////////////////////////////
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void ModelTrajectoryTestPlugin::Init()
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{
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}
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/////////////////////////////////////////////////
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void ModelTrajectoryTestPlugin::OnPoseTrajectoryMsg(
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ConstPoseTrajectoryPtr &/*_msg*/)
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{
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}
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/////////////////////////////////////////////////
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void ModelTrajectoryTestPlugin::OnUpdate()
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{
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common::Time currTime = this->model->GetWorld()->GetSimTime();
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common::Time stepTime = currTime - this->prevUpdateTime;
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this->prevUpdateTime = currTime;
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{
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// ignore everything else, get position and force only
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math::Pose pose;
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this->model->SetWorldPose(pose);
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}
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}
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