73 lines
2.2 KiB
C++
73 lines
2.2 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_RUBBLE_PLUGIN_HH_
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#define _GAZEBO_RUBBLE_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/util/system.hh"
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namespace gazebo
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{
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class GAZEBO_VISIBLE RubblePlugin : public WorldPlugin
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{
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/// \brief Constructor.
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public: RubblePlugin();
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/// \brief Load the plugin.
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/// \param[in] _world Pointer to world
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/// \param[in] _sdf Pointer to the SDF configuration.
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public: virtual void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf);
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/// \brief Initialize the plugin.
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public: virtual void Init();
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private: void MakeBox(const std::string &_name, math::Pose &_pose,
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math::Vector3 &_size, double _mass);
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private: void MakeCinderBlock(const std::string &_name, math::Pose &_pose,
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math::Vector3 &_size, double _mass);
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// private: void MakeCylinder(const std::string &_name, math::Vector3 &_pos,
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// math::Vector3 &_size, double _mass);
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private: class Obj
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{
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public: math::Pose pose;
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public: math::Vector3 size;
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public: int type;
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};
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private: class CompoundObj
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{
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// center position
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public: math::Vector3 pos;
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// Total size
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public: math::Vector3 size;
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public: std::vector<Obj> objects;
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};
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// private: void MakeCompound(const std::string &_name, CompoundObj &_obj);
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private: physics::WorldPtr world;
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};
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}
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#endif
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