72 lines
1.9 KiB
C++
72 lines
1.9 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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/* Desc: A 4-wheeled vehicle
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* Author: Nate Koenig
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*/
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#ifndef _GAZEBO_VEHICLE_PLUGIN_HH_
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#define _GAZEBO_VEHICLE_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/transport.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 VehiclePlugin : public ModelPlugin
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{
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/// \brief Constructor
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public: VehiclePlugin();
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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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private: void OnUpdate();
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private: void OnVelMsg(ConstPosePtr &_msg);
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private: std::vector<event::ConnectionPtr> connections;
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private: physics::ModelPtr model;
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private: physics::LinkPtr chassis;
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private: std::vector<physics::JointPtr> joints;
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private: physics::JointPtr gasJoint, brakeJoint;
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private: physics::JointPtr steeringJoint;
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private: math::Vector3 velocity;
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private: transport::NodePtr node;
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private: transport::SubscriberPtr velSub;
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private: double frontPower, rearPower;
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private: double maxSpeed;
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private: double wheelRadius;
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private: double steeringRatio;
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private: double tireAngleRange;
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private: double maxGas, maxBrake;
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private: double aeroLoad;
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private: double swayForce;
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};
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}
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#endif
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