52 lines
1.5 KiB
C++
52 lines
1.5 KiB
C++
/*
|
|
* Copyright (C) 2012 Open Source Robotics Foundation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*
|
|
*/
|
|
#ifndef _GAZEBO_SPHERE_ATLAS_DEMO_PLUGIN_HH_
|
|
#define _GAZEBO_SPHERE_ATLAS_DEMO_PLUGIN_HH_
|
|
|
|
#include <string>
|
|
#include <vector>
|
|
|
|
#include "gazebo/common/Plugin.hh"
|
|
#include "gazebo/physics/physics.hh"
|
|
#include "gazebo/util/system.hh"
|
|
|
|
namespace gazebo
|
|
{
|
|
class GAZEBO_VISIBLE SphereAtlasDemoPlugin : public ModelPlugin
|
|
{
|
|
public: SphereAtlasDemoPlugin();
|
|
public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
|
|
public: virtual void Init();
|
|
public: virtual void Reset();
|
|
|
|
private: void OnUpdate();
|
|
|
|
private: event::ConnectionPtr updateConnection;
|
|
|
|
private: physics::ModelPtr model;
|
|
private: std::vector<std::string> jointNames;
|
|
private: physics::Joint_V joints;
|
|
|
|
private: common::Time prevUpdateTime;
|
|
|
|
private: std::vector<double> qp;
|
|
private: std::vector<double> jointKp;
|
|
private: std::vector<double> jointKd;
|
|
};
|
|
}
|
|
#endif
|