gazebo / plugins / DiffDrivePlugin.hh

The branch 'gui_mouse_moves' does not exist.
 * Copyright 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
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * See the License for the specific language governing permissions and
 * limitations under the License.

#include "common/common.hh"
#include "physics/physics.hh"
#include "transport/TransportTypes.hh"
#include "gazebo.hh"

namespace gazebo
  class DiffDrivePlugin : public ModelPlugin
    public: DiffDrivePlugin();
    public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
    public: virtual void Init();

    private: void OnUpdate();

    private: void OnVelMsg(ConstPosePtr &_msg);

    private: transport::NodePtr node;
    private: transport::SubscriberPtr velSub;

    private: physics::ModelPtr model;
    private: physics::JointPtr leftJoint, rightJoint;
    private: event::ConnectionPtr updateConnection;
    private: double wheelSpeed[2];
    private: double torque;
    private: double wheelSeparation;
    private: double wheelRadius;
    private: common::Time prevUpdateTime;

    private: physics::LinkPtr link, leftWheelLink, rightWheelLink;

    private: double sum;
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