70 lines
2.1 KiB
C++
70 lines
2.1 KiB
C++
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/*
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* Copyright (C) 2015 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_RANDOMVELOCITY_PLUGIN_PRIVATE_HH_
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#define _GAZEBO_RANDOMVELOCITY_PLUGIN_PRIVATE_HH_
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#include <ignition/math/Vector3.hh>
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#include <ignition/math/Vector2.hh>
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#include <gazebo/physics/Link.hh>
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#include <gazebo/common/Time.hh>
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namespace gazebo
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{
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/// \internal
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/// \brief Private data for the RandomVelocityPlugin.
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class RandomVelocityPluginPrivate
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{
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public: RandomVelocityPluginPrivate()
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: velocityFactor(1.0),
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updatePeriod(10, 0),
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xRange(-IGN_DBL_MAX, IGN_DBL_MAX),
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yRange(-IGN_DBL_MAX, IGN_DBL_MAX),
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zRange(-IGN_DBL_MAX, IGN_DBL_MAX)
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{
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}
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/// \brief Velocity scaling factor.
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public: double velocityFactor;
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/// \brief Time between recomputing a new velocity vector
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public: common::Time updatePeriod;
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/// \brief Time the of the last update.
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public: common::Time prevUpdate;
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/// \brief Velocity to apply.
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public: ignition::math::Vector3d velocity;
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/// \brief Connects to world update event.
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public: event::ConnectionPtr updateConnection;
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/// \brief X velocity clamping values
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public: ignition::math::Vector2d xRange;
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/// \brief Y velocity clamping values
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public: ignition::math::Vector2d yRange;
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/// \brief Z velocity clamping values
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public: ignition::math::Vector2d zRange;
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/// \brief Pointer to the link that will receive the velocity.
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public: physics::LinkPtr link;
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};
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}
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#endif
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