From 585e57b5453d56d8484632808593655630409c86 Mon Sep 17 00:00:00 2001
From: Daniel Christoph <daniel.christoph@informatik.hu-berlin.de>
Date: Sun, 26 Jan 2020 15:03:55 +0100
Subject: [PATCH] Update src/sim/plugins/model_push.cc
---
src/sim/plugins/model_push.cc | 38 +++++++++++++++++++++++++++++++++++
1 file changed, 38 insertions(+)
create mode 100644 src/sim/plugins/model_push.cc
diff --git a/src/sim/plugins/model_push.cc b/src/sim/plugins/model_push.cc
new file mode 100644
index 0000000..ca36660
--- /dev/null
+++ b/src/sim/plugins/model_push.cc
@@ -0,0 +1,38 @@
+#include <functional>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/common/common.hh>
+#include <ignition/math/Vector3.hh>
+
+namespace gazebo
+{
+ class ModelPush : public ModelPlugin
+ {
+ public: void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
+ {
+ // Store the pointer to the model
+ this->model = _parent;
+
+ // Listen to the update event. This event is broadcast every
+ // simulation iteration.
+ this->updateConnection = event::Events::ConnectWorldUpdateBegin(
+ std::bind(&ModelPush::OnUpdate, this));
+ }
+
+ // Called by the world update start event
+ public: void OnUpdate()
+ {
+ // Apply a small linear velocity to the model.
+ this->model->SetLinearVel(ignition::math::Vector3d(0.3, 0, 0));
+ }
+
+ // Pointer to the model
+ private: physics::ModelPtr model;
+
+ // Pointer to the update event connection
+ private: event::ConnectionPtr updateConnection;
+ };
+
+ // Register this plugin with the simulator
+ GZ_REGISTER_MODEL_PLUGIN(ModelPush)
+}
--
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