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https://github.com/wpilibsuite/allwpilib
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33 lines
1.1 KiB
C
33 lines
1.1 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2014-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "HALSimGazebo.h"
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#include "simulation/gz_msgs/msgs.h"
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class GazeboEncoder {
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public:
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GazeboEncoder(int index, HALSimGazebo* halsim);
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void SetInitialized(bool value) { m_initialized = value; }
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bool IsInitialized(void) { return m_initialized; }
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void SetReverse(bool value) { m_reverse = value; }
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void Control(const char* command);
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void Listen(void);
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private:
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HALSimGazebo* m_halsim;
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int m_index;
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bool m_initialized;
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bool m_reverse;
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void Callback(const gazebo::msgs::ConstFloat64Ptr& msg);
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gazebo::transport::PublisherPtr m_pub;
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gazebo::transport::SubscriberPtr m_sub;
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};
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