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33 lines
614 B
C++
33 lines
614 B
C++
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#ifndef _SIM_ENCODER_H
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#define _SIM_ENCODER_H
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#include "simulation/msgs/msgs.h"
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#include <gazebo/transport/transport.hh>
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#include <gazebo/common/Time.hh>
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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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#endif
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