89 lines
2.9 KiB
C++
89 lines
2.9 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_HH_
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#define _GAZEBO_RANDOMVELOCITY_PLUGIN_HH_
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#include <sdf/sdf.hh>
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#include <gazebo/common/UpdateInfo.hh>
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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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// Forward declare private data class.
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class RandomVelocityPluginPrivate;
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/// \brief Plugin that applies a random velocity to a linke periodically.
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///
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/// \verbatim
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/// <!-- Apply a random velocity to the specified link-->
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/// <!-- In this example, we move a box around. A key property of the link
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/// is the frictionless surface -->
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/// <plugin name="random" filename="libRandomVelocityPlugin.so">
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///
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/// <!-- Name of the link in this model that receives the velocity -->
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/// <link>link</link>
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///
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/// <!-- Initial velocity that is applied to the link -->
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/// <initial_velocity>0 0.5 0</initial_velocity>
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///
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/// <!-- Scaling factor that is used to compute a new velocity -->
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/// <velocity_factor>0.5</velocity_factor>
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///
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/// <!-- Time, in seconds, between new velocities -->
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/// <update_period>5</update_period>
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///
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/// <!-- Clamp the X velocity value to between -1 and 1.-->
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/// <min_x>-1</min_x>
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/// <max_x>1</max_x>
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///
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/// <!-- Clamp the Y velocity value to between 0 and 1.-->
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/// <min_y>0</min_y>
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/// <max_y>1</max_y>
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///
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/// <!-- Clamp the Z velocity value to zero.-->
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/// <min_z>0</min_z>
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/// <max_z>0</max_z>
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/// </plugin>
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/// \endverbatim
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///
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/// See worlds/random_velocity.world for a complete example.
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class GAZEBO_VISIBLE RandomVelocityPlugin : public ModelPlugin
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{
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/// \brief Constructor.
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public: RandomVelocityPlugin();
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/// \brief Destructor.
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public: ~RandomVelocityPlugin();
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// Documentation inherited
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public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
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// Documentation inherited
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public: virtual void Reset();
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/// \brief Update the plugin once every iteration of simulation.
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/// \param[in] _info World update information.
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private: void Update(const common::UpdateInfo &_info);
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/// \internal
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/// \brief Private data pointer
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private: RandomVelocityPluginPrivate *dataPtr;
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};
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}
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#endif
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