119 lines
4.0 KiB
C++
119 lines
4.0 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/physics/physics.hh"
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#include "gazebo/gazebo.hh"
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#include "gazebo/transport/TransportTypes.hh"
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#include "gazebo/msgs/MessageTypes.hh"
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#include "gazebo/common/Time.hh"
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namespace gazebo
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{
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class PR2PoseTest : public ModelPlugin
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{
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public: void Load(physics::ModelPtr &/*_parent*/, sdf::ElementPtr &_sdf)
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{
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// Get then name of the parent model
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std::string modelName = _sdf->GetParent()->Get<std::string>("name");
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// Get the world name.
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std::string worldName = _sdf->GetWorldName();
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this->world = physics::get_world(worldName);
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// Get a pointer to the model
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this->model = this->world->GetModelByName(modelName);
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// Error message if the model couldn't be found
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if (!this->model)
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gzerr << "Unable to get parent model\n";
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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(&PR2PoseTest::OnUpdate, this));
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gzdbg << "plugin model name: " << modelName << "\n";
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this->node = transport::NodePtr(new transport::Node());
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this->node->Init(worldName);
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this->statsSub = this->node->Subscribe("~/world_stats",
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&PR2PoseTest::OnStats, 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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this->simTime = this->world->GetSimTime();
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math::Pose orig_pose = this->model->GetWorldPose();
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math::Pose pose = orig_pose;
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pose.pos.x = 5.0*sin(0.1*this->simTime.Double());
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pose.rot.SetFromEuler(math::Vector3(0, 0, 2.0*this->simTime.Double()));
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if (this->simTime.Double() > 10.0 && this->simTime.Double() < 300.0)
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{
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this->model->SetWorldPose(pose);
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printf("test plugin OnUpdate simTime [%f]", this->simTime.Double());
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printf(" update pose [%f, %f, %f:%f, %f, %f, %f] orig pose.x [%f]\n",
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pose.pos.x, pose.pos.y, pose.pos.z, pose.rot.x, pose.rot.y,
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pose.rot.z, pose.rot.w, orig_pose.pos.x);
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if (this->simTime.Double() > 20.0)
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this->model->SetWorldTwist(math::Vector3(0, 0, 0),
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math::Vector3(0, 0, 0), true);
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}
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}
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public: void OnStats(
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const boost::shared_ptr<msgs::WorldStatistics const> &/*_msg*/)
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{
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static double fake_time = 0;
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fake_time = fake_time + 0.2;
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math::Pose orig_pose = this->model->GetWorldPose();
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math::Pose pose = orig_pose;
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pose.pos.x = 0.5*sin(0.1*fake_time);
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pose.rot.SetFromEuler(math::Vector3(0, 0, fake_time));
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if (this->world->GetSimTime().Double() < 10.0)
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{
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this->model->SetWorldPose(pose);
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printf("test plugin OnStats simTime [%f] ", fake_time);
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printf("update pose [%f, %f, %f:%f, %f, %f, %f] orig pose.x [%f]\n",
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pose.pos.x, pose.pos.y, pose.pos.z, pose.rot.x, pose.rot.y,
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pose.rot.z, pose.rot.w, orig_pose.pos.x);
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}
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}
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// Pointer to the model
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private: physics::ModelPtr model;
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private: physics::WorldPtr world;
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// Pointer to the update event connection
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private: event::ConnectionPtr updateConnection;
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// subscribe to world stats
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private: transport::NodePtr node;
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private: transport::SubscriberPtr statsSub;
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private: common::Time simTime;
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};
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// Register this plugin with the simulator
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GZ_REGISTER_MODEL_PLUGIN(PR2PoseTest)
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}
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