C++ (Cpp) UpdateForcesAndMoments示例

示例#1

文件： gazebo_fw_dynamics_plugin.cpp 项目： jgoppert/rotors_simulator

void GazeboFwDynamicsPlugin::OnUpdate(const common::UpdateInfo& _info) {
  if (kPrintOnUpdates) {
    gzdbg << __FUNCTION__ << "() called." << std::endl;
  }

  if (!pubs_and_subs_created_) {
    CreatePubsAndSubs();
    pubs_and_subs_created_ = true;
  }

  UpdateForcesAndMoments();
}

示例#2

文件： gazebo_motor_model.cpp 项目： woshigeshabiaaa/rotors_gazebo_plugins

// This gets called by the world update start event.
void GazeboMotorModel::OnUpdate(const common::UpdateInfo& _info) {
  sampling_time_ = _info.simTime.Double() - prev_sim_time_;
  prev_sim_time_ = _info.simTime.Double();
  UpdateForcesAndMoments();
  Publish();
}

示例#3

文件： gazebo_motor_model.cpp 项目： Tacoma/GKM

// Called by the world update start event
void GazeboMotorModel::OnUpdate(const common::UpdateInfo& /*_info*/) {
  UpdateForcesAndMoments();
  Publish();
}