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https://github.com/wpilibsuite/allwpilib
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30 lines
568 B
C
30 lines
568 B
C
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#ifndef _SIM_GYRO_H
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#define _SIM_GYRO_H
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#include "simulation/msgs/msgs.h"
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#include <gazebo/transport/transport.hh>
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using namespace gazebo;
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class SimGyro {
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public:
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SimGyro(std::string topic);
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void Reset();
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double GetAngle();
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double GetVelocity();
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private:
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void sendCommand(std::string cmd);
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double position, velocity;
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transport::SubscriberPtr posSub, velSub;
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transport::PublisherPtr commandPub;
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void positionCallback(const msgs::ConstFloat64Ptr &msg);
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void velocityCallback(const msgs::ConstFloat64Ptr &msg);
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};
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#endif
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