AlexanderJChapa HW#7

Untitled.ipynb

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+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.7.3"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}

cpp/cmake_template/CMakeLists.txt

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+
+project(cmake_template)
+cmake_minimum_required(VERSION 3.10)
+
+enable_testing()
+
+find_package(gazebo)
+
+
+# add_executable(hello_world hello_world.cpp)
+
+# add_executable(my_test my_test.cpp)
+
+# my gazebo plugin
+add_library(my_gazebo_plugin SHARED my_gazebo_plugin.cpp)
+target_include_directories(my_gazebo_plugin PUBLIC ${GAZEBO_INCLUDE_DIRS})
+target_link_libraries(my_gazebo_plugin ${GAZEBO_LIBRARIES})
+
+add_test(my_test my_test)

cpp/cmake_template/Hello_world.cpp

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+#include <iostream>
+
+int main(int argc, char const *argv[])
+{
+    std::out<<"Hello world" << std::endl;
+    /*code*/
+    return 0; 
+}

cpp/cmake_template/my_gazebo_plugin.cpp

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+#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(.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)
+}

cpp/cmake_template/my_test.cpp

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+int main(int argc, char const *argv[])
+{
+    std::out<<"Hello world" << std::endl;
+    /*code*/
+    int a = 1;
+    assert (a == 1)
+
+
+
+    return 0; 
+}