81 lines
2.2 KiB
C++
81 lines
2.2 KiB
C++
/*
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef PARACHUTEPLUGIN_HH_
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#define PARACHUTEPLUGIN_HH_
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#include <memory>
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#include <gz/sim/System.hh>
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namespace gz {
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namespace sim {
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inline namespace GZ_SIM_VERSION_NAMESPACE {
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namespace systems {
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/// \brief Parachute releaase plugin which may be attached to a model.
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///
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/// ## System Parameters:
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///
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/// `<parent_link>` The link in the target model to attach the parachute.
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/// Required.
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///
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/// `<child_model>` The name of the parachute model.
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/// Required.
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///
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/// `<child_link>` The base link of the parachute model (bridle point).
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/// Required.
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///
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/// `<child_pose>` The relative pose of parent link to the child link.
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/// The default value is: `0, 0, 0, 0, 0, 0`.
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///
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/// `<cmd_topic>` The topic to receive the parachute release command.
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/// The default value is: `/model/<model_name>/parachute/cmd_release`.
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///
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class ParachutePlugin :
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public System,
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public ISystemPreUpdate,
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public ISystemConfigure
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{
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/// \brief Destructor
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public: virtual ~ParachutePlugin();
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/// \brief Constructor
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public: ParachutePlugin();
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// Documentation inherited
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public: void PreUpdate(const gz::sim::UpdateInfo &_info,
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gz::sim::EntityComponentManager &_ecm) final;
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// Documentation inherited
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public: void Configure(const Entity &_entity,
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const std::shared_ptr<const sdf::Element> &_sdf,
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EntityComponentManager &_ecm,
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EventManager &) final;
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/// \internal
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/// \brief Private implementation
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private: class Impl;
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private: std::unique_ptr<Impl> impl;
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};
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} // namespace systems
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}
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} // namespace sim
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} // namespace gz
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#endif // PARACHUTEPLUGIN_HH_
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