17 #ifndef GAZEBO_PLUGINS_WHEELSLIPPLUGIN_HH_
18 #define GAZEBO_PLUGINS_WHEELSLIPPLUGIN_HH_
24 #include <ignition/math/Vector3.hh>
32 class WheelSlipPluginPrivate;
125 public:
void GetSlips(std::map<std::string, ignition::math::Vector3d> &_out)
148 private:
void OnLateralCompliance(ConstGzStringPtr &_msg);
152 private:
void OnLongitudinalCompliance(ConstGzStringPtr &_msg);
156 private:
void Update();
159 private: std::unique_ptr<WheelSlipPluginPrivate> dataPtr;
A plugin with access to physics::Model.
Definition: Plugin.hh:340
A plugin that updates ODE wheel slip parameters based on linear wheel spin velocity (radius * spin ra...
Definition: WheelSlipPlugin.hh:103
virtual ~WheelSlipPlugin()
Destructor.
void SetSlipComplianceLongitudinal(std::string _wheel_name, const double _compliance)
Set unitless longitudinal slip compliance for a particular wheel.
void GetSlips(std::map< std::string, ignition::math::Vector3d > &_out) const
Get wheel slip measurements.
WheelSlipPlugin()
Constructor.
virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
Load function.
physics::ModelPtr GetParentModel() const
Get parent model.
void SetSlipComplianceLongitudinal(const double _compliance)
Set unitless longitudinal slip compliance for all wheels.
void SetSlipComplianceLateral(const double _compliance)
Set unitless lateral slip compliance for all wheels.
void SetSlipComplianceLateral(std::string _wheel_name, const double _compliance)
Set unitless lateral slip compliance for a particular wheel.
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:94
Forward declarations for the common classes.
Definition: Animation.hh:27