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/*
* Copyright (C) 2018 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.
*
*/
#include "robot.hh"
namespace BoxEnvironment {
/// \brief A plugin that creates a box environment
class Plugin : public virtual ignition::plugin::examples::Environment
{
public: ignition::plugin::examples::Layout GenerateLayout() const override
{
ignition::plugin::examples::Layout layout;
const double L = 5.0;
using ignition::math::Vector2d;
layout.push_back(std::make_pair(Vector2d(L, L), Vector2d(L, -L)));
layout.push_back(std::make_pair(Vector2d(L, L), Vector2d(-L, L)));
layout.push_back(std::make_pair(Vector2d(-L, -L), Vector2d(L, -L)));
layout.push_back(std::make_pair(Vector2d(-L, -L), Vector2d(-L, L)));
return layout;
}
};
}
IGNITION_ADD_PLUGIN(
BoxEnvironment::Plugin,
ignition::plugin::examples::Environment)
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