60 lines
1.8 KiB
C++
60 lines
1.8 KiB
C++
/*
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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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#include <boost/bind.hpp>
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#include "gazebo/gazebo.hh"
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#include "gazebo/physics/physics.hh"
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namespace gazebo
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{
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class CameraMove : public ModelPlugin
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{
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public: CameraMove() : ModelPlugin() {}
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public: void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
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{
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// Get a pointer to the model
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this->model = _model;
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// Listen to the update event. This event is broadcast every
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// simulation iteration.
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this->updateConnection = event::Events::ConnectWorldUpdateBegin(
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boost::bind(&CameraMove::OnUpdate, this));
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}
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// Called by the world update start event
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public: void OnUpdate()
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{
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math::Vector3 v(0.03, 0, 0);
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math::Pose pose = this->model->GetWorldPose();
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v = pose.rot * v;
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// Apply a small linear velocity to the model.
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this->model->SetLinearVel(v);
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this->model->SetAngularVel(math::Vector3(0, 0, 0.01));
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}
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// Pointer to the model
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private: physics::ModelPtr model;
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// Pointer to the update event connection
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private: event::ConnectionPtr updateConnection;
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};
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// Register this plugin with the simulator
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GZ_REGISTER_MODEL_PLUGIN(CameraMove)
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}
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