60 lines
1.6 KiB
C++
60 lines
1.6 KiB
C++
/*
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* Copyright (C) 2014 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/common/Assert.hh"
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#include "gazebo/physics/Model.hh"
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#include "plugins/InitialVelocityPlugin.hh"
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using namespace gazebo;
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GZ_REGISTER_MODEL_PLUGIN(InitialVelocityPlugin)
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/////////////////////////////////////////////////
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InitialVelocityPlugin::InitialVelocityPlugin()
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{
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}
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/////////////////////////////////////////////////
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InitialVelocityPlugin::~InitialVelocityPlugin()
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{
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}
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/////////////////////////////////////////////////
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void InitialVelocityPlugin::Load(physics::ModelPtr _model,
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sdf::ElementPtr _sdf)
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{
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GZ_ASSERT(_model, "_model pointer is NULL");
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this->model = _model;
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this->sdf = _sdf;
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this->Reset();
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}
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/////////////////////////////////////////////////
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void InitialVelocityPlugin::Reset()
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{
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if (this->sdf->HasElement("linear"))
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{
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math::Vector3 linear = this->sdf->Get<math::Vector3>("linear");
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this->model->SetLinearVel(linear);
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}
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if (this->sdf->HasElement("angular"))
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{
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math::Vector3 angular = this->sdf->Get<math::Vector3>("angular");
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this->model->SetAngularVel(angular);
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}
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}
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