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17 #ifndef GAZEBO_PLUGINS_CARTDEMOPLUGIN_HH_
18 #define GAZEBO_PLUGINS_CARTDEMOPLUGIN_HH_
19 #include <ignition/transport/Node.hh>
23 #include "gazebo/physics/physics.hh"
40 public:
virtual void Init();
42 private:
void OnUpdate();
62 private: ignition::transport::Node nodeIgn;
Forward declarations for the common classes.
Definition: Animation.hh:26
A Time class, can be used to hold wall- or sim-time. stored as sec and nano-sec.
Definition: Time.hh:47
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:94
Forward declarations for transport.
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
virtual void Init()
Override this method for custom plugin initialization behavior.
virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
Load function.
#define NUM_JOINTS
Definition: CartDemoPlugin.hh:27
Generic PID controller class. Generic proportiolnal-integral-derivative controller class that keeps t...
Definition: PID.hh:36
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
This plugin drives a four wheeled cart model forward and back by applying a small wheel torque.
Definition: CartDemoPlugin.hh:36
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:118
A plugin with access to physics::Model.
Definition: Plugin.hh:303