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https://github.com/wpilibsuite/allwpilib
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62812faf62
* Replaced include guards with #pragma once * All source files now have exactly one newline appended Some files had either two newlines at the end or none (which isn't POSIX compliant). This patch fixes that.
35 lines
1.0 KiB
C++
35 lines
1.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2016. 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 <gazebo/common/Time.hh>
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#include <gazebo/transport/transport.hh>
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#include "simulation/gz_msgs/msgs.h"
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using namespace gazebo;
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class SimEncoder {
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public:
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SimEncoder(std::string topic);
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void Reset();
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void Start();
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void Stop();
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double GetPosition();
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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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