gazebo / plugins / JointTrajectoryPlugin.hh

 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003
 *     Nate Koenig & Andrew Howard
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  GNU General Public License for more details.
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 * Desc: 3D position interface.
 * Author: Sachin Chitta and John Hsu
 * Date: 10 June 2008

#include <boost/thread.hpp>
#include <boost/thread/mutex.hpp>

#include "gazebo/physics/physics.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/common/Time.hh"
#include "gazebo/common/Plugin.hh"
#include "gazebo/common/Events.hh"

namespace gazebo
  class JointTrajectoryPlugin : public ModelPlugin
    /// \brief Constructor
    public: JointTrajectoryPlugin();

    /// \brief Destructor
    public: virtual ~JointTrajectoryPlugin();

    /// \brief Load the controller
    public: void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);

    /// \brief Update the controller
    private: void UpdateStates();

    private: void FixLink(physics::LinkPtr link);
    private: void UnfixLink();

    private: physics::WorldPtr world;
    private: physics::ModelPtr model;
    private: physics::JointPtr joint;

    private: boost::mutex update_mutex;

    // Pointer to the update event connection
    private: event::ConnectionPtr updateConnection;
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