52 lines
1.5 KiB
C++
52 lines
1.5 KiB
C++
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/*
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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 _GAZEBO_SPHERE_ATLAS_DEMO_PLUGIN_HH_
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#define _GAZEBO_SPHERE_ATLAS_DEMO_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/util/system.hh"
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namespace gazebo
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{
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class GAZEBO_VISIBLE SphereAtlasDemoPlugin : public ModelPlugin
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{
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public: SphereAtlasDemoPlugin();
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public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
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public: virtual void Init();
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public: virtual void Reset();
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private: void OnUpdate();
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private: event::ConnectionPtr updateConnection;
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private: physics::ModelPtr model;
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private: std::vector<std::string> jointNames;
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private: physics::Joint_V joints;
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private: common::Time prevUpdateTime;
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private: std::vector<double> qp;
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private: std::vector<double> jointKp;
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private: std::vector<double> jointKd;
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};
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}
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#endif
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