98 lines
3.0 KiB
C++
98 lines
3.0 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 <boost/bind.hpp>
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#include "gazebo/physics/physics.hh"
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#include "gazebo/gazebo.hh"
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#include "gazebo/transport/TransportTypes.hh"
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#include "gazebo/msgs/MessageTypes.hh"
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#include "gazebo/common/Time.hh"
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namespace gazebo
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{
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class RayTest : public SensorPlugin
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{
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public: void Load(sensors::SensorPtr &/*_parent*/, sdf::ElementPtr &_sdf)
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{
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// Get then name of the parent model
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std::string modelName = _sdf->GetParent()->Get<std::string>("name");
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// Get the world name.
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std::string worldName = _sdf->GetWorldName();
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physics::WorldPtr world = physics::get_world(worldName);
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// Get a pointer to the model
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this->model = world->GetModelByName(modelName);
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// Error message if the model couldn't be found
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if (!this->model)
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gzerr << "Unable to get parent model\n";
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// Listen to the update event. This event is broadcast every
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// simulation iteration.
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this->updateConnection = event::Events::ConnectWorldUpdateBegin(
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boost::bind(&RayTest::OnUpdate, this));
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gzdbg << "plugin model name: " << modelName << "\n";
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this->node = transport::NodePtr(new transport::Node());
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this->node->Init(worldName);
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this->statsSub =
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this->node->Subscribe("~/world_stats", &RayTest::OnStats, this);
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}
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// Called by the world update start event
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public: void OnUpdate()
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{
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// do something on update
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// gzdbg << "plugin update\n";
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}
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public: void OnStats(
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const boost::shared_ptr<msgs::WorldStatistics const> &_msg)
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{
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this->simTime = msgs::Convert(_msg->sim_time());
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math::Pose pose;
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pose.pos.x = 0.5*sin(0.01*this->simTime.Double());
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math::Pose orig_pose = this->model->GetWorldPose();
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if (this->simTime.Double() > 20.0)
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this->model->SetWorldPose(pose);
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gzdbg << "plugin simTime [" << this->simTime.Double()
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<< "] update pose [" << pose.pos.x << "] orig pose ["
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<< orig_pose << "]\n";
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}
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// Pointer to the model
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private: physics::ModelPtr model;
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// Pointer to the update event connection
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private: event::ConnectionPtr updateConnection;
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// subscribe to world stats
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private: transport::NodePtr node;
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private: transport::SubscriberPtr statsSub;
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private: common::Time simTime;
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};
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// Register this plugin with the simulator
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GZ_REGISTER_SENSOR_PLUGIN(RayTest)
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}
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