61 lines
1.9 KiB
C++
61 lines
1.9 KiB
C++
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/*
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* Copyright (C) 2013 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 _GAZEBO_BREAKABLE_JOINT_PLUGIN_HH_
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#define _GAZEBO_BREAKABLE_JOINT_PLUGIN_HH_
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#include "plugins/ForceTorquePlugin.hh"
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#include "gazebo/sensors/sensors.hh"
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#include "gazebo/common/Plugin.hh"
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#include "gazebo/common/Events.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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/// \brief A plugin for breakable joints, based on a ForceTorque sensor plugin
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class GAZEBO_VISIBLE BreakableJointPlugin : public ForceTorquePlugin
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{
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/// \brief Constructor
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public: BreakableJointPlugin();
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/// \brief Destructor
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public: virtual ~BreakableJointPlugin();
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/// \brief Load the plugin.
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/// \param[in] _parent Pointer to the parent sensor.
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/// \param[in] _sdf SDF element for the plugin.
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public: virtual void Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf);
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/// \brief Overloaded Update callback.
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/// \param[in] _msg The force torque message.
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protected: virtual void OnUpdate(msgs::WrenchStamped _msg);
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/// \brief WorldUpdate callback, used to safely detach parent joint.
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protected: void OnWorldUpdate();
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/// \brief Pointer to the parent joint
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private: physics::JointPtr parentJoint;
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/// \brief Pointer to the world update event connection
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private: event::ConnectionPtr worldConnection;
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/// \brief Breaking force threshold (N).
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private: double breakingForce;
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};
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}
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#endif
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