RandomVelocityPlugin.hh
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1 /*
2  * Copyright (C) 2015-2016 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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16 */
17 #ifndef _GAZEBO_RANDOMVELOCITY_PLUGIN_HH_
18 #define _GAZEBO_RANDOMVELOCITY_PLUGIN_HH_
19 
20 #include <sdf/sdf.hh>
22 #include <gazebo/common/Plugin.hh>
23 #include <gazebo/util/system.hh>
24 
25 namespace gazebo
26 {
27  // Forward declare private data class.
28  class RandomVelocityPrivate;
29 
66  {
68  public: RandomVelocityPlugin();
69 
71  public: ~RandomVelocityPlugin();
72 
73  // Documentation inherited
74  public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
75 
76  // Documentation inherited
77  public: virtual void Reset();
78 
81  private: void Update(const common::UpdateInfo &_info);
82 
85  private: RandomVelocityPluginPrivate *dataPtr;
86  };
87 }
88 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
Plugin that applies a random velocity to a linke periodically.
Definition: RandomVelocityPlugin.hh:65
Information for use in an update event.
Definition: UpdateInfo.hh:30
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:88
A plugin with access to physics::Model.
Definition: Plugin.hh:245
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:59