113 lines
3.6 KiB
C++
113 lines
3.6 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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#ifndef _MUD_PLUGIN_HH_
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#define _MUD_PLUGIN_HH_
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#include <string>
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#include <vector>
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#include "gazebo/common/Plugin.hh"
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#include "gazebo/physics/physics.hh"
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#include "gazebo/transport/TransportTypes.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 MudPlugin : public ModelPlugin
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{
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/// \brief Constructor.
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public: MudPlugin();
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// Documentation Inherited.
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public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
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// Documentation Inherited.
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public: virtual void Init();
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/// \brief Callback for receipt of contact sensor messages.
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/// \param[in] _msg Contacts message from contact sensor.
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private: void OnContact(ConstContactsPtr &_msg);
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/// \brief Callback for World Update events.
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private: void OnUpdate();
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/// \brief Transport node used for subscribing to contact sensor messages.
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private: transport::NodePtr node;
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/// \brief Subscriber to contact sensor messages.
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private: transport::SubscriberPtr contactSub;
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/// \brief Connection to World Update events.
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private: event::ConnectionPtr updateConnection;
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/// \brief Pointer to world.
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private: physics::WorldPtr world;
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/// \brief Pointer to physics engine.
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private: physics::PhysicsEnginePtr physics;
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/// \brief Pointer to model containing plugin.
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private: physics::ModelPtr model;
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/// \brief Name of model containing plugin.
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private: std::string modelName;
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/// \brief Pointer to canonical link in mud model. It is assumed that
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/// the canonical link has the contact sensor.
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private: physics::LinkPtr link;
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/// \brief Name of contact sensor relative to model, scoped with '/',
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private: std::string contactSensorName;
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/// \brief Mutex to protect reads and writes.
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private: mutable boost::mutex mutex;
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/// \brief Store newest contacts message.
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private: msgs::Contacts newestContactsMsg;
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/// \brief Flag to indicate new contact message.
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private: bool newMsg;
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/// \brief Number of updates without having a new contacts message.
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private: unsigned int newMsgWait;
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/// \brief Stiffness parameter, used in conjunction with damping
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/// to compute joint erp, cfm
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private: double stiffness;
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/// \brief Damping parameter, used in conjunction with stiffness
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/// to compute joint erp, cfm
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private: double damping;
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/// \brief Names of allowed target links, specified in sdf parameters.
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private: std::vector<std::string> allowedLinks;
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/// \brief Pointer to link currently targeted by mud joint.
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private: std::vector<physics::LinkPtr> links;
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/// \brief Dynamically created joint for simulating mud forces.
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private: std::vector<physics::JointPtr> joints;
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/// \brief Custom bitmask associated to collision surface of allowed links
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private: unsigned int contactSurfaceBitmask;
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/// \brief SDF for this plugin;
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private: sdf::ElementPtr sdf;
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};
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}
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#endif // ifndef _MUD_PLUGIN_HH_
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