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/*
* Copyright (C) 2012 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef GAZEBO_PLUGINS_SPHEREATLASDEMOPLUGIN_HH_
#define GAZEBO_PLUGINS_SPHEREATLASDEMOPLUGIN_HH_
#include <string>
#include <vector>
#include "gazebo/common/Plugin.hh"
#include "gazebo/physics/physics.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
class GAZEBO_VISIBLE SphereAtlasDemoPlugin : public ModelPlugin
{
public: SphereAtlasDemoPlugin();
public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
public: virtual void Init();
public: virtual void Reset();
private: void OnUpdate();
private: event::ConnectionPtr updateConnection;
private: physics::ModelPtr model;
private: std::vector<std::string> jointNames;
private: physics::Joint_V joints;
private: common::Time prevUpdateTime;
private: std::vector<double> qp;
private: std::vector<double> jointKp;
private: std::vector<double> jointKd;
};
}
#endif
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