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40 lines
885 B
C
40 lines
885 B
C
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#ifndef _driveBot_H_
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#define _driveBot_H_
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#include <gazebo/gazebo.hh>
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#include <gazebo/physics/PhysicsIface.hh>
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#include "components/RobotComponent.h"
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#include "msgs/msgs.h"
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using namespace gazebo;
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class FRCPlugin: public ModelPlugin {
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public:
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FRCPlugin();
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~FRCPlugin();
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//function to load all of the elements
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void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
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//function to update all of the elements
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void Update(const common::UpdateInfo & _info);
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private:
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//the vector containing all of the robot components.
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std::vector<RobotComponentPtr> components;
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physics::ModelPtr model;
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physics::LinkPtr frame;
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/// \brief Pointer to the world update function.
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event::ConnectionPtr updateConn;
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transport::NodePtr gzNode;
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transport::SubscriberPtr sub;
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volatile bool enabled;
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void dsCallback(const msgs::ConstDriverStationPtr &msg);
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};
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#endif
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