17#ifndef GAZEBO_PLUGINS_SKIDSTEERDRIVEPLUGIN_HH_
18#define GAZEBO_PLUGINS_SKIDSTEERDRIVEPLUGIN_HH_
21#include <ignition/transport/Node.hh>
24#include "gazebo/physics/physics.hh"
28#define NUMBER_OF_WHEELS 4
53 private:
int RegisterJoint(
int _index,
const std::string &_name);
57 private:
void OnVelMsg(ConstPosePtr &_msg);
72 private:
double wheelSeparation;
75 private:
double wheelRadius;
81 private: ignition::transport::Node nodeIgn;
#define NUMBER_OF_WHEELS
Definition SkidSteerDrivePlugin.hh:28
Forward declarations for transport.
ModelPlugin()
Constructor.
Definition Plugin.hh:306
void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
Called when the plugin is loaded.
@ RIGHT_REAR
Definition SkidSteerDrivePlugin.hh:47
@ RIGHT_FRONT
Definition SkidSteerDrivePlugin.hh:47
@ LEFT_FRONT
Definition SkidSteerDrivePlugin.hh:47
@ LEFT_REAR
Definition SkidSteerDrivePlugin.hh:47
SkidSteerDrivePlugin()
Default Contstuctor.
boost::shared_ptr< Model > ModelPtr
Definition PhysicsTypes.hh:93
boost::shared_ptr< Joint > JointPtr
Definition PhysicsTypes.hh:117
boost::shared_ptr< Subscriber > SubscriberPtr
Definition TransportTypes.hh:53
boost::shared_ptr< Node > NodePtr
Definition TransportTypes.hh:57
Forward declarations for the common classes.
Definition Animation.hh:27