17 #ifndef GAZEBO_PLUGINS_WHEELSLIPPLUGIN_HH_
18 #define GAZEBO_PLUGINS_WHEELSLIPPLUGIN_HH_
24 #include <ignition/math/Vector3.hh>
32 class WheelSlipPluginPrivate;
114 public:
virtual void Fini();
125 public:
void GetSlips(std::map<std::string, ignition::math::Vector3d> &_out)
130 public:
void SetSlipComplianceLateral(
const double _compliance);
134 public:
void SetSlipComplianceLongitudinal(
const double _compliance);
138 private:
void OnLateralCompliance(ConstGzStringPtr &_msg);
142 private:
void OnLongitudinalCompliance(ConstGzStringPtr &_msg);
146 private:
void Update();
149 private: std::unique_ptr<WheelSlipPluginPrivate> dataPtr;