70 lines
2.2 KiB
C++
70 lines
2.2 KiB
C++
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/*
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* Copyright (C) 2014 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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#include <functional>
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#include "ImuSensorPlugin.hh"
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using namespace gazebo;
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// Register this plugin with the simulator
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GZ_REGISTER_SENSOR_PLUGIN(ImuSensorPlugin)
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/////////////////////////////////////////////////
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ImuSensorPlugin::ImuSensorPlugin()
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{
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}
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/////////////////////////////////////////////////
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ImuSensorPlugin::~ImuSensorPlugin()
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{
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this->parentSensor->DisconnectUpdated(this->connection);
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this->parentSensor.reset();
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}
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/////////////////////////////////////////////////
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void ImuSensorPlugin::Load(sensors::SensorPtr _parent,
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sdf::ElementPtr /*_sdf*/)
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{
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this->parentSensor =
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std::dynamic_pointer_cast<sensors::ImuSensor>(_parent);
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this->world = physics::get_world(_parent->WorldName());
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physics::EntityPtr entity = this->world->GetEntity(_parent->ParentName());
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this->link = boost::dynamic_pointer_cast<physics::Link>(entity);
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if (!this->link)
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gzthrow("Imu sensor parent is not a Link.");
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if (!this->parentSensor)
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gzthrow("ImuSensorPlugin requires a imu sensor as its parent.");
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this->connection = this->parentSensor->ConnectUpdated(
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std::bind(&ImuSensorPlugin::OnUpdate, this, this->parentSensor));
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}
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/////////////////////////////////////////////////
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void ImuSensorPlugin::OnUpdate(sensors::ImuSensorPtr /*_sensor*/)
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{
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// overload with useful callback here
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// gzdbg << _sensor->GetName() << " :\n"
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// << " sensor linear accel [" << _sensor->GetLinearAcceleration()
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// << "]\n Link::GetRelativeLinearAccel() ["
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// << this->link->GetRelativeLinearAccel()
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// << "]\n Link::GetWorldLinearAccel() ["
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// << this->link->GetWorldLinearAccel()
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// << "]\n";
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}
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