Rename our allwpilib (which is now 2020) to not have 2019 in the name
Change-Id: I3c07f85ed32ab8b97db765a9b43f2a6ce7da964a
diff --git a/simulation/frc_gazebo_plugins/README.md b/simulation/frc_gazebo_plugins/README.md
new file mode 100644
index 0000000..4a5a59a
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/README.md
@@ -0,0 +1,45 @@
+Gazebo plugins for FRC
+======================
+
+These plugins enable the use of the Gazebo physics simulator to model robots,
+and then use WPILIB programming libraries to control those simulated robots.
+
+At the present time, this only builds on Linux, and has a fairly complex
+installation process.
+
+You must have the gazebo development packages available on Linux.
+The gradle build system will automatically skip building this directory
+if those requirements are not met.
+
+This command:
+
+ `./gradlew build -PmakeSim`
+
+will force it to attempt to build.
+
+TODO: The meshes for the models are large, and are not hosted in
+the main allwpilib repository. An alternate method of hosting
+and using is being built at the time of this commit. You must
+manually locate and copy the the models and world from that
+either into /usr/share/frcgazebo or into build/share/frcgazebo
+in order to use this facility.
+
+Once you have built it, then a command like this:
+
+ `simulation/frc_gazebo_plugins/build/bin/frcgazebo PacGoat2014.world`
+
+should run the Gazebo simulation using our plugins against the
+2014 model, with the PacGoat robot on the field.
+
+The halsim_gazebo simulation library will provide a method for
+running robot code to control a simulated robot.
+
+
+TODO: Package the plugins more nicely, and then put instructions here.
+
+TODO: Build and package the plugins for Windows. The key there is to get gazebo
+working on Windows. This link was a useful trove of information on Windows/Gazebo
+issues as of September, 2017:
+ https://bitbucket.org/osrf/gazebo/issues/2129/visual-studio-2015-compatibility
+
+Note that the sense remains that this will be difficult at best.
diff --git a/simulation/frc_gazebo_plugins/build.gradle b/simulation/frc_gazebo_plugins/build.gradle
new file mode 100644
index 0000000..918094f
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/build.gradle
@@ -0,0 +1,116 @@
+description = "A set of C++ plugins to interface the FRC Simulator with Gazebo."
+
+apply plugin: 'edu.wpi.first.NativeUtils'
+apply plugin: 'cpp'
+apply plugin: "google-test"
+
+ext.skiplinuxathena = true
+ext.skiplinuxraspbian = true
+
+apply from: "${rootDir}/shared/config.gradle"
+
+/* If gz_msgs or gazebo is not available, do not attempt a build */
+def gazebo_version = ""
+def gazebo_cppflags = ""
+def gazebo_linker_args = ""
+
+try {
+ gazebo_version = "pkg-config --modversion gazebo".execute().text.trim()
+ println "Gazebo version is [${gazebo_version}]"
+ gazebo_cppflags = "pkg-config --cflags gazebo".execute().text.split()
+ gazebo_linker_args = "pkg-config --libs gazebo protobuf".execute().text.split()
+} catch(Exception ex) { }
+
+if (!gazebo_version?.trim()) {
+ println "Gazebo development files are not available. (pkg-config --modversion gazebo failed)"
+ if (project.hasProperty("makeSim")) {
+ /* Force the build even though we did not find protobuf. */
+ println "makeSim set. Forcing build - failure likely."
+ }
+ else {
+ ext.skip_frc_plugins = true
+ println "Skipping FRC Plugins."
+ }
+}
+
+evaluationDependsOn(":simulation:gz_msgs")
+def gz_msgs_project = project(":simulation:gz_msgs")
+
+tasks.whenTaskAdded { task ->
+ task.onlyIf { !gz_msgs_project.hasProperty('skip_gz_msgs') && !project.hasProperty('skip_frc_plugins') }
+}
+
+model {
+ components {
+ clock(NativeLibrarySpec)
+ dc_motor(NativeLibrarySpec)
+ encoder(NativeLibrarySpec)
+ gyro(NativeLibrarySpec)
+ limit_switch(NativeLibrarySpec)
+ potentiometer(NativeLibrarySpec)
+ pneumatic_piston(NativeLibrarySpec)
+ rangefinder(NativeLibrarySpec)
+ servo(NativeLibrarySpec)
+ drive_motor(NativeLibrarySpec)
+ all { component ->
+ component.targetBuildTypes 'debug'
+ sources {
+ cpp.lib library: "${component.name}", linkage: "static"
+ }
+ }
+
+ }
+
+ /* TODO: Finish writing the test case */
+
+ /* We pass the name of the .so and a .world file to each test */
+ testSuites {
+ all { test->
+ def library_file
+ testedComponent.binaries.withType(SharedLibraryBinarySpec).each { b->
+ library_file = b.sharedLibraryFile
+ }
+
+ tasks.withType(RunTestExecutable) {
+ args library_file, file("src/${baseName}/world/${baseName}.world")
+ }
+ }
+ }
+
+
+ binaries {
+ all {
+ linker.args gazebo_linker_args
+ cppCompiler.args gazebo_cppflags
+ lib project: ":simulation:gz_msgs", library: "gz_msgs", linkage: "static"
+ }
+
+ /* TODO: build only shared object? Figure out why this doesn't work? */
+ withType(StaticLibraryBinarySpec) {
+ buildable = false
+ }
+
+ withType(GoogleTestTestSuiteBinarySpec) {
+
+ /* We currently only have a test for the clock plugin */
+ /* TODO: learn how to add this back to gmock */
+ //if (it.projectScopedName.contains("clockTest")) {
+ // buildable = true
+ // project(':gmock').addGmockToLinker(it)
+ //}
+ //else {
+ buildable = false
+ //}
+ }
+ }
+}
+
+task copyScript(type: Copy, group: "FRC Gazebo", description: "Copy the frcgazebo script to the output directory.") {
+ from "scripts"
+ into "$project.buildDir/bin"
+ fileMode 0755
+}
+
+build.dependsOn copyScript
+
+/* TODO: Publish this library */
diff --git a/simulation/frc_gazebo_plugins/frc_gazebo_plugins.doxy b/simulation/frc_gazebo_plugins/frc_gazebo_plugins.doxy
new file mode 100644
index 0000000..887c9c1
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/frc_gazebo_plugins.doxy
@@ -0,0 +1,2303 @@
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+# members will be included in the various overviews, but no documentation
+# section is generated. This option has no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_MEMBERS = NO
+
+# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all
+# undocumented classes that are normally visible in the class hierarchy. If set
+# to NO these classes will be included in the various overviews. This option has
+# no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_CLASSES = NO
+
+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend
+# (class|struct|union) declarations. If set to NO these declarations will be
+# included in the documentation.
+# The default value is: NO.
+
+HIDE_FRIEND_COMPOUNDS = NO
+
+# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any
+# documentation blocks found inside the body of a function. If set to NO these
+# blocks will be appended to the function's detailed documentation block.
+# The default value is: NO.
+
+HIDE_IN_BODY_DOCS = NO
+
+# The INTERNAL_DOCS tag determines if documentation that is typed after a
+# \internal command is included. If the tag is set to NO then the documentation
+# will be excluded. Set it to YES to include the internal documentation.
+# The default value is: NO.
+
+INTERNAL_DOCS = NO
+
+# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file
+# names in lower-case letters. If set to YES upper-case letters are also
+# allowed. This is useful if you have classes or files whose names only differ
+# in case and if your file system supports case sensitive file names. Windows
+# and Mac users are advised to set this option to NO.
+# The default value is: system dependent.
+
+CASE_SENSE_NAMES = YES
+
+# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with
+# their full class and namespace scopes in the documentation. If set to YES the
+# scope will be hidden.
+# The default value is: NO.
+
+HIDE_SCOPE_NAMES = NO
+
+# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of
+# the files that are included by a file in the documentation of that file.
+# The default value is: YES.
+
+SHOW_INCLUDE_FILES = YES
+
+# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each
+# grouped member an include statement to the documentation, telling the reader
+# which file to include in order to use the member.
+# The default value is: NO.
+
+SHOW_GROUPED_MEMB_INC = NO
+
+# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include
+# files with double quotes in the documentation rather than with sharp brackets.
+# The default value is: NO.
+
+FORCE_LOCAL_INCLUDES = NO
+
+# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the
+# documentation for inline members.
+# The default value is: YES.
+
+INLINE_INFO = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the
+# (detailed) documentation of file and class members alphabetically by member
+# name. If set to NO the members will appear in declaration order.
+# The default value is: YES.
+
+SORT_MEMBER_DOCS = YES
+
+# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief
+# descriptions of file, namespace and class members alphabetically by member
+# name. If set to NO the members will appear in declaration order. Note that
+# this will also influence the order of the classes in the class list.
+# The default value is: NO.
+
+SORT_BRIEF_DOCS = NO
+
+# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the
+# (brief and detailed) documentation of class members so that constructors and
+# destructors are listed first. If set to NO the constructors will appear in the
+# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS.
+# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief
+# member documentation.
+# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting
+# detailed member documentation.
+# The default value is: NO.
+
+SORT_MEMBERS_CTORS_1ST = NO
+
+# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy
+# of group names into alphabetical order. If set to NO the group names will
+# appear in their defined order.
+# The default value is: NO.
+
+SORT_GROUP_NAMES = NO
+
+# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by
+# fully-qualified names, including namespaces. If set to NO, the class list will
+# be sorted only by class name, not including the namespace part.
+# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
+# Note: This option applies only to the class list, not to the alphabetical
+# list.
+# The default value is: NO.
+
+SORT_BY_SCOPE_NAME = NO
+
+# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper
+# type resolution of all parameters of a function it will reject a match between
+# the prototype and the implementation of a member function even if there is
+# only one candidate or it is obvious which candidate to choose by doing a
+# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still
+# accept a match between prototype and implementation in such cases.
+# The default value is: NO.
+
+STRICT_PROTO_MATCHING = NO
+
+# The GENERATE_TODOLIST tag can be used to enable ( YES) or disable ( NO) the
+# todo list. This list is created by putting \todo commands in the
+# documentation.
+# The default value is: YES.
+
+GENERATE_TODOLIST = YES
+
+# The GENERATE_TESTLIST tag can be used to enable ( YES) or disable ( NO) the
+# test list. This list is created by putting \test commands in the
+# documentation.
+# The default value is: YES.
+
+GENERATE_TESTLIST = YES
+
+# The GENERATE_BUGLIST tag can be used to enable ( YES) or disable ( NO) the bug
+# list. This list is created by putting \bug commands in the documentation.
+# The default value is: YES.
+
+GENERATE_BUGLIST = YES
+
+# The GENERATE_DEPRECATEDLIST tag can be used to enable ( YES) or disable ( NO)
+# the deprecated list. This list is created by putting \deprecated commands in
+# the documentation.
+# The default value is: YES.
+
+GENERATE_DEPRECATEDLIST= YES
+
+# The ENABLED_SECTIONS tag can be used to enable conditional documentation
+# sections, marked by \if <section_label> ... \endif and \cond <section_label>
+# ... \endcond blocks.
+
+ENABLED_SECTIONS =
+
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the
+# initial value of a variable or macro / define can have for it to appear in the
+# documentation. If the initializer consists of more lines than specified here
+# it will be hidden. Use a value of 0 to hide initializers completely. The
+# appearance of the value of individual variables and macros / defines can be
+# controlled using \showinitializer or \hideinitializer command in the
+# documentation regardless of this setting.
+# Minimum value: 0, maximum value: 10000, default value: 30.
+
+MAX_INITIALIZER_LINES = 30
+
+# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at
+# the bottom of the documentation of classes and structs. If set to YES the list
+# will mention the files that were used to generate the documentation.
+# The default value is: YES.
+
+SHOW_USED_FILES = YES
+
+# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This
+# will remove the Files entry from the Quick Index and from the Folder Tree View
+# (if specified).
+# The default value is: YES.
+
+SHOW_FILES = YES
+
+# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces
+# page. This will remove the Namespaces entry from the Quick Index and from the
+# Folder Tree View (if specified).
+# The default value is: YES.
+
+SHOW_NAMESPACES = YES
+
+# The FILE_VERSION_FILTER tag can be used to specify a program or script that
+# doxygen should invoke to get the current version for each file (typically from
+# the version control system). Doxygen will invoke the program by executing (via
+# popen()) the command command input-file, where command is the value of the
+# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided
+# by doxygen. Whatever the program writes to standard output is used as the file
+# version. For an example see the documentation.
+
+FILE_VERSION_FILTER =
+
+# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
+# by doxygen. The layout file controls the global structure of the generated
+# output files in an output format independent way. To create the layout file
+# that represents doxygen's defaults, run doxygen with the -l option. You can
+# optionally specify a file name after the option, if omitted DoxygenLayout.xml
+# will be used as the name of the layout file.
+#
+# Note that if you run doxygen from a directory containing a file called
+# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE
+# tag is left empty.
+
+LAYOUT_FILE =
+
+# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
+# the reference definitions. This must be a list of .bib files. The .bib
+# extension is automatically appended if omitted. This requires the bibtex tool
+# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info.
+# For LaTeX the style of the bibliography can be controlled using
+# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
+# search path. Do not use file names with spaces, bibtex cannot handle them. See
+# also \cite for info how to create references.
+
+CITE_BIB_FILES =
+
+#---------------------------------------------------------------------------
+# Configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated to
+# standard output by doxygen. If QUIET is set to YES this implies that the
+# messages are off.
+# The default value is: NO.
+
+QUIET = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated to standard error ( stderr) by doxygen. If WARNINGS is set to YES
+# this implies that the warnings are on.
+#
+# Tip: Turn warnings on while writing the documentation.
+# The default value is: YES.
+
+WARNINGS = YES
+
+# If the WARN_IF_UNDOCUMENTED tag is set to YES, then doxygen will generate
+# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag
+# will automatically be disabled.
+# The default value is: YES.
+
+WARN_IF_UNDOCUMENTED = YES
+
+# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for
+# potential errors in the documentation, such as not documenting some parameters
+# in a documented function, or documenting parameters that don't exist or using
+# markup commands wrongly.
+# The default value is: YES.
+
+WARN_IF_DOC_ERROR = YES
+
+# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
+# are documented, but have no documentation for their parameters or return
+# value. If set to NO doxygen will only warn about wrong or incomplete parameter
+# documentation, but not about the absence of documentation.
+# The default value is: NO.
+
+WARN_NO_PARAMDOC = NO
+
+# The WARN_FORMAT tag determines the format of the warning messages that doxygen
+# can produce. The string should contain the $file, $line, and $text tags, which
+# will be replaced by the file and line number from which the warning originated
+# and the warning text. Optionally the format may contain $version, which will
+# be replaced by the version of the file (if it could be obtained via
+# FILE_VERSION_FILTER)
+# The default value is: $file:$line: $text.
+
+WARN_FORMAT = "$file:$line: $text"
+
+# The WARN_LOGFILE tag can be used to specify a file to which warning and error
+# messages should be written. If left blank the output is written to standard
+# error (stderr).
+
+WARN_LOGFILE =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the input files
+#---------------------------------------------------------------------------
+
+# The INPUT tag is used to specify the files and/or directories that contain
+# documented source files. You may enter file names like myfile.cpp or
+# directories like /usr/src/myproject. Separate the files or directories with
+# spaces.
+# Note: If this tag is empty the current directory is searched.
+
+INPUT =
+
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
+# libiconv (or the iconv built into libc) for the transcoding. See the libiconv
+# documentation (see: http://www.gnu.org/software/libiconv) for the list of
+# possible encodings.
+# The default value is: UTF-8.
+
+INPUT_ENCODING = UTF-8
+
+# If the value of the INPUT tag contains directories, you can use the
+# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and
+# *.h) to filter out the source-files in the directories. If left blank the
+# following patterns are tested:*.c, *.cc, *.cxx, *.cpp, *.c++, *.java, *.ii,
+# *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, *.hh, *.hxx, *.hpp,
+# *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, *.m, *.markdown,
+# *.md, *.mm, *.dox, *.py, *.f90, *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf,
+# *.qsf, *.as and *.js.
+
+FILE_PATTERNS =
+
+# The RECURSIVE tag can be used to specify whether or not subdirectories should
+# be searched for input files as well.
+# The default value is: NO.
+
+RECURSIVE = YES
+
+# The EXCLUDE tag can be used to specify files and/or directories that should be
+# excluded from the INPUT source files. This way you can easily exclude a
+# subdirectory from a directory tree whose root is specified with the INPUT tag.
+#
+# Note that relative paths are relative to the directory from which doxygen is
+# run.
+
+EXCLUDE =
+
+# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
+# directories that are symbolic links (a Unix file system feature) are excluded
+# from the input.
+# The default value is: NO.
+
+EXCLUDE_SYMLINKS = NO
+
+# If the value of the INPUT tag contains directories, you can use the
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
+# certain files from those directories.
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories for example use the pattern */test/*
+
+EXCLUDE_PATTERNS =
+
+# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
+# (namespaces, classes, functions, etc.) that should be excluded from the
+# output. The symbol name can be a fully qualified name, a word, or if the
+# wildcard * is used, a substring. Examples: ANamespace, AClass,
+# AClass::ANamespace, ANamespace::*Test
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories use the pattern */test/*
+
+EXCLUDE_SYMBOLS =
+
+# The EXAMPLE_PATH tag can be used to specify one or more files or directories
+# that contain example code fragments that are included (see the \include
+# command).
+
+EXAMPLE_PATH =
+
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and
+# *.h) to filter out the source-files in the directories. If left blank all
+# files are included.
+
+EXAMPLE_PATTERNS =
+
+# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
+# searched for input files to be used with the \include or \dontinclude commands
+# irrespective of the value of the RECURSIVE tag.
+# The default value is: NO.
+
+EXAMPLE_RECURSIVE = NO
+
+# The IMAGE_PATH tag can be used to specify one or more files or directories
+# that contain images that are to be included in the documentation (see the
+# \image command).
+
+IMAGE_PATH =
+
+# The INPUT_FILTER tag can be used to specify a program that doxygen should
+# invoke to filter for each input file. Doxygen will invoke the filter program
+# by executing (via popen()) the command:
+#
+# <filter> <input-file>
+#
+# where <filter> is the value of the INPUT_FILTER tag, and <input-file> is the
+# name of an input file. Doxygen will then use the output that the filter
+# program writes to standard output. If FILTER_PATTERNS is specified, this tag
+# will be ignored.
+#
+# Note that the filter must not add or remove lines; it is applied before the
+# code is scanned, but not when the output code is generated. If lines are added
+# or removed, the anchors will not be placed correctly.
+
+INPUT_FILTER =
+
+# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
+# basis. Doxygen will compare the file name with each pattern and apply the
+# filter if there is a match. The filters are a list of the form: pattern=filter
+# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how
+# filters are used. If the FILTER_PATTERNS tag is empty or if none of the
+# patterns match the file name, INPUT_FILTER is applied.
+
+FILTER_PATTERNS =
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER ) will also be used to filter the input files that are used for
+# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES).
+# The default value is: NO.
+
+FILTER_SOURCE_FILES = NO
+
+# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
+# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and
+# it is also possible to disable source filtering for a specific pattern using
+# *.ext= (so without naming a filter).
+# This tag requires that the tag FILTER_SOURCE_FILES is set to YES.
+
+FILTER_SOURCE_PATTERNS =
+
+# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that
+# is part of the input, its contents will be placed on the main page
+# (index.html). This can be useful if you have a project on for instance GitHub
+# and want to reuse the introduction page also for the doxygen output.
+
+USE_MDFILE_AS_MAINPAGE =
+
+#---------------------------------------------------------------------------
+# Configuration options related to source browsing
+#---------------------------------------------------------------------------
+
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will be
+# generated. Documented entities will be cross-referenced with these sources.
+#
+# Note: To get rid of all source code in the generated output, make sure that
+# also VERBATIM_HEADERS is set to NO.
+# The default value is: NO.
+
+SOURCE_BROWSER = NO
+
+# Setting the INLINE_SOURCES tag to YES will include the body of functions,
+# classes and enums directly into the documentation.
+# The default value is: NO.
+
+INLINE_SOURCES = NO
+
+# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any
+# special comment blocks from generated source code fragments. Normal C, C++ and
+# Fortran comments will always remain visible.
+# The default value is: YES.
+
+STRIP_CODE_COMMENTS = YES
+
+# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
+# function all documented functions referencing it will be listed.
+# The default value is: NO.
+
+REFERENCED_BY_RELATION = NO
+
+# If the REFERENCES_RELATION tag is set to YES then for each documented function
+# all documented entities called/used by that function will be listed.
+# The default value is: NO.
+
+REFERENCES_RELATION = NO
+
+# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set
+# to YES, then the hyperlinks from functions in REFERENCES_RELATION and
+# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will
+# link to the documentation.
+# The default value is: YES.
+
+REFERENCES_LINK_SOURCE = YES
+
+# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the
+# source code will show a tooltip with additional information such as prototype,
+# brief description and links to the definition and documentation. Since this
+# will make the HTML file larger and loading of large files a bit slower, you
+# can opt to disable this feature.
+# The default value is: YES.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+SOURCE_TOOLTIPS = YES
+
+# If the USE_HTAGS tag is set to YES then the references to source code will
+# point to the HTML generated by the htags(1) tool instead of doxygen built-in
+# source browser. The htags tool is part of GNU's global source tagging system
+# (see http://www.gnu.org/software/global/global.html). You will need version
+# 4.8.6 or higher.
+#
+# To use it do the following:
+# - Install the latest version of global
+# - Enable SOURCE_BROWSER and USE_HTAGS in the config file
+# - Make sure the INPUT points to the root of the source tree
+# - Run doxygen as normal
+#
+# Doxygen will invoke htags (and that will in turn invoke gtags), so these
+# tools must be available from the command line (i.e. in the search path).
+#
+# The result: instead of the source browser generated by doxygen, the links to
+# source code will now point to the output of htags.
+# The default value is: NO.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+USE_HTAGS = NO
+
+# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a
+# verbatim copy of the header file for each class for which an include is
+# specified. Set to NO to disable this.
+# See also: Section \class.
+# The default value is: YES.
+
+VERBATIM_HEADERS = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all
+# compounds will be generated. Enable this if the project contains a lot of
+# classes, structs, unions or interfaces.
+# The default value is: YES.
+
+ALPHABETICAL_INDEX = YES
+
+# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in
+# which the alphabetical index list will be split.
+# Minimum value: 1, maximum value: 20, default value: 5.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+COLS_IN_ALPHA_INDEX = 5
+
+# In case all classes in a project start with a common prefix, all classes will
+# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag
+# can be used to specify a prefix (or a list of prefixes) that should be ignored
+# while generating the index headers.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+IGNORE_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the HTML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES doxygen will generate HTML output
+# The default value is: YES.
+
+GENERATE_HTML = YES
+
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_OUTPUT = html
+
+# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each
+# generated HTML page (for example: .htm, .php, .asp).
+# The default value is: .html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FILE_EXTENSION = .html
+
+# The HTML_HEADER tag can be used to specify a user-defined HTML header file for
+# each generated HTML page. If the tag is left blank doxygen will generate a
+# standard header.
+#
+# To get valid HTML the header file that includes any scripts and style sheets
+# that doxygen needs, which is dependent on the configuration options used (e.g.
+# the setting GENERATE_TREEVIEW). It is highly recommended to start with a
+# default header using
+# doxygen -w html new_header.html new_footer.html new_stylesheet.css
+# YourConfigFile
+# and then modify the file new_header.html. See also section "Doxygen usage"
+# for information on how to generate the default header that doxygen normally
+# uses.
+# Note: The header is subject to change so you typically have to regenerate the
+# default header when upgrading to a newer version of doxygen. For a description
+# of the possible markers and block names see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_HEADER =
+
+# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each
+# generated HTML page. If the tag is left blank doxygen will generate a standard
+# footer. See HTML_HEADER for more information on how to generate a default
+# footer and what special commands can be used inside the footer. See also
+# section "Doxygen usage" for information on how to generate the default footer
+# that doxygen normally uses.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FOOTER =
+
+# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style
+# sheet that is used by each HTML page. It can be used to fine-tune the look of
+# the HTML output. If left blank doxygen will generate a default style sheet.
+# See also section "Doxygen usage" for information on how to generate the style
+# sheet that doxygen normally uses.
+# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as
+# it is more robust and this tag (HTML_STYLESHEET) will in the future become
+# obsolete.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_STYLESHEET =
+
+# The HTML_EXTRA_STYLESHEET tag can be used to specify an additional user-
+# defined cascading style sheet that is included after the standard style sheets
+# created by doxygen. Using this option one can overrule certain style aspects.
+# This is preferred over using HTML_STYLESHEET since it does not replace the
+# standard style sheet and is therefor more robust against future updates.
+# Doxygen will copy the style sheet file to the output directory. For an example
+# see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_STYLESHEET =
+
+# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the HTML output directory. Note
+# that these files will be copied to the base HTML output directory. Use the
+# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
+# files. In the HTML_STYLESHEET file, use the file name only. Also note that the
+# files will be copied as-is; there are no commands or markers available.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_FILES =
+
+# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
+# will adjust the colors in the stylesheet and background images according to
+# this color. Hue is specified as an angle on a colorwheel, see
+# http://en.wikipedia.org/wiki/Hue for more information. For instance the value
+# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
+# purple, and 360 is red again.
+# Minimum value: 0, maximum value: 359, default value: 220.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_HUE = 220
+
+# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors
+# in the HTML output. For a value of 0 the output will use grayscales only. A
+# value of 255 will produce the most vivid colors.
+# Minimum value: 0, maximum value: 255, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_SAT = 100
+
+# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the
+# luminance component of the colors in the HTML output. Values below 100
+# gradually make the output lighter, whereas values above 100 make the output
+# darker. The value divided by 100 is the actual gamma applied, so 80 represents
+# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not
+# change the gamma.
+# Minimum value: 40, maximum value: 240, default value: 80.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_GAMMA = 80
+
+# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
+# page will contain the date and time when the page was generated. Setting this
+# to NO can help when comparing the output of multiple runs.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_TIMESTAMP = YES
+
+# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
+# documentation will contain sections that can be hidden and shown after the
+# page has loaded.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_SECTIONS = NO
+
+# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries
+# shown in the various tree structured indices initially; the user can expand
+# and collapse entries dynamically later on. Doxygen will expand the tree to
+# such a level that at most the specified number of entries are visible (unless
+# a fully collapsed tree already exceeds this amount). So setting the number of
+# entries 1 will produce a full collapsed tree by default. 0 is a special value
+# representing an infinite number of entries and will result in a full expanded
+# tree by default.
+# Minimum value: 0, maximum value: 9999, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_INDEX_NUM_ENTRIES = 100
+
+# If the GENERATE_DOCSET tag is set to YES, additional index files will be
+# generated that can be used as input for Apple's Xcode 3 integrated development
+# environment (see: http://developer.apple.com/tools/xcode/), introduced with
+# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a
+# Makefile in the HTML output directory. Running make will produce the docset in
+# that directory and running make install will install the docset in
+# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
+# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
+# for more information.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_DOCSET = NO
+
+# This tag determines the name of the docset feed. A documentation feed provides
+# an umbrella under which multiple documentation sets from a single provider
+# (such as a company or product suite) can be grouped.
+# The default value is: Doxygen generated docs.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_FEEDNAME = "Doxygen generated docs"
+
+# This tag specifies a string that should uniquely identify the documentation
+# set bundle. This should be a reverse domain-name style string, e.g.
+# com.mycompany.MyDocSet. Doxygen will append .docset to the name.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_BUNDLE_ID = org.doxygen.Project
+
+# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify
+# the documentation publisher. This should be a reverse domain-name style
+# string, e.g. com.mycompany.MyDocSet.documentation.
+# The default value is: org.doxygen.Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_ID = org.doxygen.Publisher
+
+# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher.
+# The default value is: Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_NAME = Publisher
+
+# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
+# additional HTML index files: index.hhp, index.hhc, and index.hhk. The
+# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
+# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on
+# Windows.
+#
+# The HTML Help Workshop contains a compiler that can convert all HTML output
+# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML
+# files are now used as the Windows 98 help format, and will replace the old
+# Windows help format (.hlp) on all Windows platforms in the future. Compressed
+# HTML files also contain an index, a table of contents, and you can search for
+# words in the documentation. The HTML workshop also contains a viewer for
+# compressed HTML files.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_HTMLHELP = NO
+
+# The CHM_FILE tag can be used to specify the file name of the resulting .chm
+# file. You can add a path in front of the file if the result should not be
+# written to the html output directory.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_FILE =
+
+# The HHC_LOCATION tag can be used to specify the location (absolute path
+# including file name) of the HTML help compiler ( hhc.exe). If non-empty
+# doxygen will try to run the HTML help compiler on the generated index.hhp.
+# The file has to be specified with full path.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+HHC_LOCATION =
+
+# The GENERATE_CHI flag controls if a separate .chi index file is generated (
+# YES) or that it should be included in the master .chm file ( NO).
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+GENERATE_CHI = NO
+
+# The CHM_INDEX_ENCODING is used to encode HtmlHelp index ( hhk), content ( hhc)
+# and project file content.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_INDEX_ENCODING =
+
+# The BINARY_TOC flag controls whether a binary table of contents is generated (
+# YES) or a normal table of contents ( NO) in the .chm file.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+BINARY_TOC = NO
+
+# The TOC_EXPAND flag can be set to YES to add extra items for group members to
+# the table of contents of the HTML help documentation and to the tree view.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+TOC_EXPAND = NO
+
+# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
+# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that
+# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help
+# (.qch) of the generated HTML documentation.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_QHP = NO
+
+# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify
+# the file name of the resulting .qch file. The path specified is relative to
+# the HTML output folder.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QCH_FILE =
+
+# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
+# Project output. For more information please see Qt Help Project / Namespace
+# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace).
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_NAMESPACE = org.doxygen.Project
+
+# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
+# Help Project output. For more information please see Qt Help Project / Virtual
+# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual-
+# folders).
+# The default value is: doc.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_VIRTUAL_FOLDER = doc
+
+# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
+# filter to add. For more information please see Qt Help Project / Custom
+# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
+# filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_NAME =
+
+# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
+# custom filter to add. For more information please see Qt Help Project / Custom
+# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
+# filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_ATTRS =
+
+# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
+# project's filter section matches. Qt Help Project / Filter Attributes (see:
+# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_SECT_FILTER_ATTRS =
+
+# The QHG_LOCATION tag can be used to specify the location of Qt's
+# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the
+# generated .qhp file.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHG_LOCATION =
+
+# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be
+# generated, together with the HTML files, they form an Eclipse help plugin. To
+# install this plugin and make it available under the help contents menu in
+# Eclipse, the contents of the directory containing the HTML and XML files needs
+# to be copied into the plugins directory of eclipse. The name of the directory
+# within the plugins directory should be the same as the ECLIPSE_DOC_ID value.
+# After copying Eclipse needs to be restarted before the help appears.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_ECLIPSEHELP = NO
+
+# A unique identifier for the Eclipse help plugin. When installing the plugin
+# the directory name containing the HTML and XML files should also have this
+# name. Each documentation set should have its own identifier.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES.
+
+ECLIPSE_DOC_ID = org.doxygen.Project
+
+# If you want full control over the layout of the generated HTML pages it might
+# be necessary to disable the index and replace it with your own. The
+# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top
+# of each HTML page. A value of NO enables the index and the value YES disables
+# it. Since the tabs in the index contain the same information as the navigation
+# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+DISABLE_INDEX = YES
+
+# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
+# structure should be generated to display hierarchical information. If the tag
+# value is set to YES, a side panel will be generated containing a tree-like
+# index structure (just like the one that is generated for HTML Help). For this
+# to work a browser that supports JavaScript, DHTML, CSS and frames is required
+# (i.e. any modern browser). Windows users are probably better off using the
+# HTML help feature. Via custom stylesheets (see HTML_EXTRA_STYLESHEET) one can
+# further fine-tune the look of the index. As an example, the default style
+# sheet generated by doxygen has an example that shows how to put an image at
+# the root of the tree instead of the PROJECT_NAME. Since the tree basically has
+# the same information as the tab index, you could consider setting
+# DISABLE_INDEX to YES when enabling this option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_TREEVIEW = YES
+
+# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
+# doxygen will group on one line in the generated HTML documentation.
+#
+# Note that a value of 0 will completely suppress the enum values from appearing
+# in the overview section.
+# Minimum value: 0, maximum value: 20, default value: 4.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+ENUM_VALUES_PER_LINE = 4
+
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used
+# to set the initial width (in pixels) of the frame in which the tree is shown.
+# Minimum value: 0, maximum value: 1500, default value: 250.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+TREEVIEW_WIDTH = 250
+
+# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open links to
+# external symbols imported via tag files in a separate window.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+EXT_LINKS_IN_WINDOW = NO
+
+# Use this tag to change the font size of LaTeX formulas included as images in
+# the HTML documentation. When you change the font size after a successful
+# doxygen run you need to manually remove any form_*.png images from the HTML
+# output directory to force them to be regenerated.
+# Minimum value: 8, maximum value: 50, default value: 10.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FORMULA_FONTSIZE = 10
+
+# Use the FORMULA_TRANPARENT tag to determine whether or not the images
+# generated for formulas are transparent PNGs. Transparent PNGs are not
+# supported properly for IE 6.0, but are supported on all modern browsers.
+#
+# Note that when changing this option you need to delete any form_*.png files in
+# the HTML output directory before the changes have effect.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FORMULA_TRANSPARENT = YES
+
+# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
+# http://www.mathjax.org) which uses client side Javascript for the rendering
+# instead of using prerendered bitmaps. Use this if you do not have LaTeX
+# installed or if you want to formulas look prettier in the HTML output. When
+# enabled you may also need to install MathJax separately and configure the path
+# to it using the MATHJAX_RELPATH option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+USE_MATHJAX = NO
+
+# When MathJax is enabled you can set the default output format to be used for
+# the MathJax output. See the MathJax site (see:
+# http://docs.mathjax.org/en/latest/output.html) for more details.
+# Possible values are: HTML-CSS (which is slower, but has the best
+# compatibility), NativeMML (i.e. MathML) and SVG.
+# The default value is: HTML-CSS.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_FORMAT = HTML-CSS
+
+# When MathJax is enabled you need to specify the location relative to the HTML
+# output directory using the MATHJAX_RELPATH option. The destination directory
+# should contain the MathJax.js script. For instance, if the mathjax directory
+# is located at the same level as the HTML output directory, then
+# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
+# Content Delivery Network so you can quickly see the result without installing
+# MathJax. However, it is strongly recommended to install a local copy of
+# MathJax from http://www.mathjax.org before deployment.
+# The default value is: http://cdn.mathjax.org/mathjax/latest.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest
+
+# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
+# extension names that should be enabled during MathJax rendering. For example
+# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_EXTENSIONS =
+
+# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
+# of code that will be used on startup of the MathJax code. See the MathJax site
+# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an
+# example see the documentation.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_CODEFILE =
+
+# When the SEARCHENGINE tag is enabled doxygen will generate a search box for
+# the HTML output. The underlying search engine uses javascript and DHTML and
+# should work on any modern browser. Note that when using HTML help
+# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET)
+# there is already a search function so this one should typically be disabled.
+# For large projects the javascript based search engine can be slow, then
+# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to
+# search using the keyboard; to jump to the search box use <access key> + S
+# (what the <access key> is depends on the OS and browser, but it is typically
+# <CTRL>, <ALT>/<option>, or both). Inside the search box use the <cursor down
+# key> to jump into the search results window, the results can be navigated
+# using the <cursor keys>. Press <Enter> to select an item or <escape> to cancel
+# the search. The filter options can be selected when the cursor is inside the
+# search box by pressing <Shift>+<cursor down>. Also here use the <cursor keys>
+# to select a filter and <Enter> or <escape> to activate or cancel the filter
+# option.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+SEARCHENGINE = YES
+
+# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
+# implemented using a web server instead of a web client using Javascript. There
+# are two flavours of web server based searching depending on the
+# EXTERNAL_SEARCH setting. When disabled, doxygen will generate a PHP script for
+# searching and an index file used by the script. When EXTERNAL_SEARCH is
+# enabled the indexing and searching needs to be provided by external tools. See
+# the section "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SERVER_BASED_SEARCH = NO
+
+# When EXTERNAL_SEARCH tag is enabled doxygen will no longer generate the PHP
+# script for searching. Instead the search results are written to an XML file
+# which needs to be processed by an external indexer. Doxygen will invoke an
+# external search engine pointed to by the SEARCHENGINE_URL option to obtain the
+# search results.
+#
+# Doxygen ships with an example indexer ( doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see: http://xapian.org/).
+#
+# See the section "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH = NO
+
+# The SEARCHENGINE_URL should point to a search engine hosted by a web server
+# which will return the search results when EXTERNAL_SEARCH is enabled.
+#
+# Doxygen ships with an example indexer ( doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see: http://xapian.org/). See the section "External Indexing and
+# Searching" for details.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHENGINE_URL =
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
+# search data is written to a file for indexing by an external tool. With the
+# SEARCHDATA_FILE tag the name of this file can be specified.
+# The default file is: searchdata.xml.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHDATA_FILE = searchdata.xml
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the
+# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is
+# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple
+# projects and redirect the results back to the right project.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH_ID =
+
+# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
+# projects other than the one defined by this configuration file, but that are
+# all added to the same external search index. Each project needs to have a
+# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id of
+# to a relative location where the documentation can be found. The format is:
+# EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ...
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTRA_SEARCH_MAPPINGS =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES doxygen will generate LaTeX output.
+# The default value is: YES.
+
+GENERATE_LATEX = YES
+
+# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: latex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_OUTPUT = latex
+
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
+# invoked.
+#
+# Note that when enabling USE_PDFLATEX this option is only used for generating
+# bitmaps for formulas in the HTML output, but not in the Makefile that is
+# written to the output directory.
+# The default file is: latex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_CMD_NAME = latex
+
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate
+# index for LaTeX.
+# The default file is: makeindex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+MAKEINDEX_CMD_NAME = makeindex
+
+# If the COMPACT_LATEX tag is set to YES doxygen generates more compact LaTeX
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+COMPACT_LATEX = NO
+
+# The PAPER_TYPE tag can be used to set the paper type that is used by the
+# printer.
+# Possible values are: a4 (210 x 297 mm), letter (8.5 x 11 inches), legal (8.5 x
+# 14 inches) and executive (7.25 x 10.5 inches).
+# The default value is: a4.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PAPER_TYPE = a4
+
+# The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names
+# that should be included in the LaTeX output. To get the times font for
+# instance you can specify
+# EXTRA_PACKAGES=times
+# If left blank no extra packages will be included.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+EXTRA_PACKAGES =
+
+# The LATEX_HEADER tag can be used to specify a personal LaTeX header for the
+# generated LaTeX document. The header should contain everything until the first
+# chapter. If it is left blank doxygen will generate a standard header. See
+# section "Doxygen usage" for information on how to let doxygen write the
+# default header to a separate file.
+#
+# Note: Only use a user-defined header if you know what you are doing! The
+# following commands have a special meaning inside the header: $title,
+# $datetime, $date, $doxygenversion, $projectname, $projectnumber. Doxygen will
+# replace them by respectively the title of the page, the current date and time,
+# only the current date, the version number of doxygen, the project name (see
+# PROJECT_NAME), or the project number (see PROJECT_NUMBER).
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HEADER =
+
+# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for the
+# generated LaTeX document. The footer should contain everything after the last
+# chapter. If it is left blank doxygen will generate a standard footer.
+#
+# Note: Only use a user-defined footer if you know what you are doing!
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_FOOTER =
+
+# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the LATEX_OUTPUT output
+# directory. Note that the files will be copied as-is; there are no commands or
+# markers available.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_FILES =
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is
+# prepared for conversion to PDF (using ps2pdf or pdflatex). The PDF file will
+# contain links (just like the HTML output) instead of page references. This
+# makes the output suitable for online browsing using a PDF viewer.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PDF_HYPERLINKS = YES
+
+# If the LATEX_PDFLATEX tag is set to YES, doxygen will use pdflatex to generate
+# the PDF file directly from the LaTeX files. Set this option to YES to get a
+# higher quality PDF documentation.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+USE_PDFLATEX = YES
+
+# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode
+# command to the generated LaTeX files. This will instruct LaTeX to keep running
+# if errors occur, instead of asking the user for help. This option is also used
+# when generating formulas in HTML.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BATCHMODE = NO
+
+# If the LATEX_HIDE_INDICES tag is set to YES then doxygen will not include the
+# index chapters (such as File Index, Compound Index, etc.) in the output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HIDE_INDICES = NO
+
+# If the LATEX_SOURCE_CODE tag is set to YES then doxygen will include source
+# code with syntax highlighting in the LaTeX output.
+#
+# Note that which sources are shown also depends on other settings such as
+# SOURCE_BROWSER.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_SOURCE_CODE = NO
+
+# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
+# bibliography, e.g. plainnat, or ieeetr. See
+# http://en.wikipedia.org/wiki/BibTeX and \cite for more info.
+# The default value is: plain.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BIB_STYLE = plain
+
+#---------------------------------------------------------------------------
+# Configuration options related to the RTF output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_RTF tag is set to YES doxygen will generate RTF output. The
+# RTF output is optimized for Word 97 and may not look too pretty with other RTF
+# readers/editors.
+# The default value is: NO.
+
+GENERATE_RTF = NO
+
+# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: rtf.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_OUTPUT = rtf
+
+# If the COMPACT_RTF tag is set to YES doxygen generates more compact RTF
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+COMPACT_RTF = NO
+
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated will
+# contain hyperlink fields. The RTF file will contain links (just like the HTML
+# output) instead of page references. This makes the output suitable for online
+# browsing using Word or some other Word compatible readers that support those
+# fields.
+#
+# Note: WordPad (write) and others do not support links.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_HYPERLINKS = NO
+
+# Load stylesheet definitions from file. Syntax is similar to doxygen's config
+# file, i.e. a series of assignments. You only have to provide replacements,
+# missing definitions are set to their default value.
+#
+# See also section "Doxygen usage" for information on how to generate the
+# default style sheet that doxygen normally uses.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_STYLESHEET_FILE =
+
+# Set optional variables used in the generation of an RTF document. Syntax is
+# similar to doxygen's config file. A template extensions file can be generated
+# using doxygen -e rtf extensionFile.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_EXTENSIONS_FILE =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the man page output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES doxygen will generate man pages for
+# classes and files.
+# The default value is: NO.
+
+GENERATE_MAN = NO
+
+# The MAN_OUTPUT tag is used to specify where the man pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it. A directory man3 will be created inside the directory specified by
+# MAN_OUTPUT.
+# The default directory is: man.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_OUTPUT = man
+
+# The MAN_EXTENSION tag determines the extension that is added to the generated
+# man pages. In case the manual section does not start with a number, the number
+# 3 is prepended. The dot (.) at the beginning of the MAN_EXTENSION tag is
+# optional.
+# The default value is: .3.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_EXTENSION = .3
+
+# If the MAN_LINKS tag is set to YES and doxygen generates man output, then it
+# will generate one additional man file for each entity documented in the real
+# man page(s). These additional files only source the real man page, but without
+# them the man command would be unable to find the correct page.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_LINKS = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the XML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_XML tag is set to YES doxygen will generate an XML file that
+# captures the structure of the code including all documentation.
+# The default value is: NO.
+
+GENERATE_XML = NO
+
+# The XML_OUTPUT tag is used to specify where the XML pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: xml.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_OUTPUT = xml
+
+# The XML_SCHEMA tag can be used to specify a XML schema, which can be used by a
+# validating XML parser to check the syntax of the XML files.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_SCHEMA =
+
+# The XML_DTD tag can be used to specify a XML DTD, which can be used by a
+# validating XML parser to check the syntax of the XML files.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_DTD =
+
+# If the XML_PROGRAMLISTING tag is set to YES doxygen will dump the program
+# listings (including syntax highlighting and cross-referencing information) to
+# the XML output. Note that enabling this will significantly increase the size
+# of the XML output.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_PROGRAMLISTING = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to the DOCBOOK output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_DOCBOOK tag is set to YES doxygen will generate Docbook files
+# that can be used to generate PDF.
+# The default value is: NO.
+
+GENERATE_DOCBOOK = NO
+
+# The DOCBOOK_OUTPUT tag is used to specify where the Docbook pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be put in
+# front of it.
+# The default directory is: docbook.
+# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
+
+DOCBOOK_OUTPUT = docbook
+
+#---------------------------------------------------------------------------
+# Configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_AUTOGEN_DEF tag is set to YES doxygen will generate an AutoGen
+# Definitions (see http://autogen.sf.net) file that captures the structure of
+# the code including all documentation. Note that this feature is still
+# experimental and incomplete at the moment.
+# The default value is: NO.
+
+GENERATE_AUTOGEN_DEF = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_PERLMOD tag is set to YES doxygen will generate a Perl module
+# file that captures the structure of the code including all documentation.
+#
+# Note that this feature is still experimental and incomplete at the moment.
+# The default value is: NO.
+
+GENERATE_PERLMOD = NO
+
+# If the PERLMOD_LATEX tag is set to YES doxygen will generate the necessary
+# Makefile rules, Perl scripts and LaTeX code to be able to generate PDF and DVI
+# output from the Perl module output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_LATEX = NO
+
+# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be nicely
+# formatted so it can be parsed by a human reader. This is useful if you want to
+# understand what is going on. On the other hand, if this tag is set to NO the
+# size of the Perl module output will be much smaller and Perl will parse it
+# just the same.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_PRETTY = YES
+
+# The names of the make variables in the generated doxyrules.make file are
+# prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. This is useful
+# so different doxyrules.make files included by the same Makefile don't
+# overwrite each other's variables.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_MAKEVAR_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+
+# If the ENABLE_PREPROCESSING tag is set to YES doxygen will evaluate all
+# C-preprocessor directives found in the sources and include files.
+# The default value is: YES.
+
+ENABLE_PREPROCESSING = YES
+
+# If the MACRO_EXPANSION tag is set to YES doxygen will expand all macro names
+# in the source code. If set to NO only conditional compilation will be
+# performed. Macro expansion can be done in a controlled way by setting
+# EXPAND_ONLY_PREDEF to YES.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+MACRO_EXPANSION = NO
+
+# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES then
+# the macro expansion is limited to the macros specified with the PREDEFINED and
+# EXPAND_AS_DEFINED tags.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+EXPAND_ONLY_PREDEF = NO
+
+# If the SEARCH_INCLUDES tag is set to YES the includes files in the
+# INCLUDE_PATH will be searched if a #include is found.
+# The default value is: YES.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+SEARCH_INCLUDES = YES
+
+# The INCLUDE_PATH tag can be used to specify one or more directories that
+# contain include files that are not input files but should be processed by the
+# preprocessor.
+# This tag requires that the tag SEARCH_INCLUDES is set to YES.
+
+INCLUDE_PATH =
+
+# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
+# patterns (like *.h and *.hpp) to filter out the header-files in the
+# directories. If left blank, the patterns specified with FILE_PATTERNS will be
+# used.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+INCLUDE_FILE_PATTERNS =
+
+# The PREDEFINED tag can be used to specify one or more macro names that are
+# defined before the preprocessor is started (similar to the -D option of e.g.
+# gcc). The argument of the tag is a list of macros of the form: name or
+# name=definition (no spaces). If the definition and the "=" are omitted, "=1"
+# is assumed. To prevent a macro definition from being undefined via #undef or
+# recursively expanded use the := operator instead of the = operator.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+PREDEFINED =
+
+# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
+# tag can be used to specify a list of macro names that should be expanded. The
+# macro definition that is found in the sources will be used. Use the PREDEFINED
+# tag if you want to use a different macro definition that overrules the
+# definition found in the source code.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+EXPAND_AS_DEFINED =
+
+# If the SKIP_FUNCTION_MACROS tag is set to YES then doxygen's preprocessor will
+# remove all refrences to function-like macros that are alone on a line, have an
+# all uppercase name, and do not end with a semicolon. Such function macros are
+# typically used for boiler-plate code, and will confuse the parser if not
+# removed.
+# The default value is: YES.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+SKIP_FUNCTION_MACROS = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to external references
+#---------------------------------------------------------------------------
+
+# The TAGFILES tag can be used to specify one or more tag files. For each tag
+# file the location of the external documentation should be added. The format of
+# a tag file without this location is as follows:
+# TAGFILES = file1 file2 ...
+# Adding location for the tag files is done as follows:
+# TAGFILES = file1=loc1 "file2 = loc2" ...
+# where loc1 and loc2 can be relative or absolute paths or URLs. See the
+# section "Linking to external documentation" for more information about the use
+# of tag files.
+# Note: Each tag file must have an unique name (where the name does NOT include
+# the path). If a tag file is not located in the directory in which doxygen is
+# run, you must also specify the path to the tagfile here.
+
+TAGFILES =
+
+# When a file name is specified after GENERATE_TAGFILE, doxygen will create a
+# tag file that is based on the input files it reads. See section "Linking to
+# external documentation" for more information about the usage of tag files.
+
+GENERATE_TAGFILE =
+
+# If the ALLEXTERNALS tag is set to YES all external class will be listed in the
+# class index. If set to NO only the inherited external classes will be listed.
+# The default value is: NO.
+
+ALLEXTERNALS = NO
+
+# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed in
+# the modules index. If set to NO, only the current project's groups will be
+# listed.
+# The default value is: YES.
+
+EXTERNAL_GROUPS = YES
+
+# If the EXTERNAL_PAGES tag is set to YES all external pages will be listed in
+# the related pages index. If set to NO, only the current project's pages will
+# be listed.
+# The default value is: YES.
+
+EXTERNAL_PAGES = YES
+
+# The PERL_PATH should be the absolute path and name of the perl script
+# interpreter (i.e. the result of 'which perl').
+# The default file (with absolute path) is: /usr/bin/perl.
+
+PERL_PATH = /usr/bin/perl
+
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+
+# If the CLASS_DIAGRAMS tag is set to YES doxygen will generate a class diagram
+# (in HTML and LaTeX) for classes with base or super classes. Setting the tag to
+# NO turns the diagrams off. Note that this option also works with HAVE_DOT
+# disabled, but it is recommended to install and use dot, since it yields more
+# powerful graphs.
+# The default value is: YES.
+
+CLASS_DIAGRAMS = YES
+
+# You can define message sequence charts within doxygen comments using the \msc
+# command. Doxygen will then run the mscgen tool (see:
+# http://www.mcternan.me.uk/mscgen/)) to produce the chart and insert it in the
+# documentation. The MSCGEN_PATH tag allows you to specify the directory where
+# the mscgen tool resides. If left empty the tool is assumed to be found in the
+# default search path.
+
+MSCGEN_PATH =
+
+# You can include diagrams made with dia in doxygen documentation. Doxygen will
+# then run dia to produce the diagram and insert it in the documentation. The
+# DIA_PATH tag allows you to specify the directory where the dia binary resides.
+# If left empty dia is assumed to be found in the default search path.
+
+DIA_PATH =
+
+# If set to YES, the inheritance and collaboration graphs will hide inheritance
+# and usage relations if the target is undocumented or is not a class.
+# The default value is: YES.
+
+HIDE_UNDOC_RELATIONS = YES
+
+# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
+# available from the path. This tool is part of Graphviz (see:
+# http://www.graphviz.org/), a graph visualization toolkit from AT&T and Lucent
+# Bell Labs. The other options in this section have no effect if this option is
+# set to NO
+# The default value is: NO.
+
+HAVE_DOT = NO
+
+# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is allowed
+# to run in parallel. When set to 0 doxygen will base this on the number of
+# processors available in the system. You can set it explicitly to a value
+# larger than 0 to get control over the balance between CPU load and processing
+# speed.
+# Minimum value: 0, maximum value: 32, default value: 0.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_NUM_THREADS = 0
+
+# When you want a differently looking font n the dot files that doxygen
+# generates you can specify the font name using DOT_FONTNAME. You need to make
+# sure dot is able to find the font, which can be done by putting it in a
+# standard location or by setting the DOTFONTPATH environment variable or by
+# setting DOT_FONTPATH to the directory containing the font.
+# The default value is: Helvetica.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_FONTNAME = Helvetica
+
+# The DOT_FONTSIZE tag can be used to set the size (in points) of the font of
+# dot graphs.
+# Minimum value: 4, maximum value: 24, default value: 10.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_FONTSIZE = 10
+
+# By default doxygen will tell dot to use the default font as specified with
+# DOT_FONTNAME. If you specify a different font using DOT_FONTNAME you can set
+# the path where dot can find it using this tag.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_FONTPATH =
+
+# If the CLASS_GRAPH tag is set to YES then doxygen will generate a graph for
+# each documented class showing the direct and indirect inheritance relations.
+# Setting this tag to YES will force the CLASS_DIAGRAMS tag to NO.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+CLASS_GRAPH = YES
+
+# If the COLLABORATION_GRAPH tag is set to YES then doxygen will generate a
+# graph for each documented class showing the direct and indirect implementation
+# dependencies (inheritance, containment, and class references variables) of the
+# class with other documented classes.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+COLLABORATION_GRAPH = YES
+
+# If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for
+# groups, showing the direct groups dependencies.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GROUP_GRAPHS = YES
+
+# If the UML_LOOK tag is set to YES doxygen will generate inheritance and
+# collaboration diagrams in a style similar to the OMG's Unified Modeling
+# Language.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+UML_LOOK = NO
+
+# If the UML_LOOK tag is enabled, the fields and methods are shown inside the
+# class node. If there are many fields or methods and many nodes the graph may
+# become too big to be useful. The UML_LIMIT_NUM_FIELDS threshold limits the
+# number of items for each type to make the size more manageable. Set this to 0
+# for no limit. Note that the threshold may be exceeded by 50% before the limit
+# is enforced. So when you set the threshold to 10, up to 15 fields may appear,
+# but if the number exceeds 15, the total amount of fields shown is limited to
+# 10.
+# Minimum value: 0, maximum value: 100, default value: 10.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+UML_LIMIT_NUM_FIELDS = 10
+
+# If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and
+# collaboration graphs will show the relations between templates and their
+# instances.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+TEMPLATE_RELATIONS = NO
+
+# If the INCLUDE_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are set to
+# YES then doxygen will generate a graph for each documented file showing the
+# direct and indirect include dependencies of the file with other documented
+# files.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INCLUDE_GRAPH = YES
+
+# If the INCLUDED_BY_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are
+# set to YES then doxygen will generate a graph for each documented file showing
+# the direct and indirect include dependencies of the file with other documented
+# files.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INCLUDED_BY_GRAPH = YES
+
+# If the CALL_GRAPH tag is set to YES then doxygen will generate a call
+# dependency graph for every global function or class method.
+#
+# Note that enabling this option will significantly increase the time of a run.
+# So in most cases it will be better to enable call graphs for selected
+# functions only using the \callgraph command.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+CALL_GRAPH = NO
+
+# If the CALLER_GRAPH tag is set to YES then doxygen will generate a caller
+# dependency graph for every global function or class method.
+#
+# Note that enabling this option will significantly increase the time of a run.
+# So in most cases it will be better to enable caller graphs for selected
+# functions only using the \callergraph command.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+CALLER_GRAPH = NO
+
+# If the GRAPHICAL_HIERARCHY tag is set to YES then doxygen will graphical
+# hierarchy of all classes instead of a textual one.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GRAPHICAL_HIERARCHY = YES
+
+# If the DIRECTORY_GRAPH tag is set to YES then doxygen will show the
+# dependencies a directory has on other directories in a graphical way. The
+# dependency relations are determined by the #include relations between the
+# files in the directories.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DIRECTORY_GRAPH = YES
+
+# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
+# generated by dot.
+# Note: If you choose svg you need to set HTML_FILE_EXTENSION to xhtml in order
+# to make the SVG files visible in IE 9+ (other browsers do not have this
+# requirement).
+# Possible values are: png, jpg, gif and svg.
+# The default value is: png.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_IMAGE_FORMAT = png
+
+# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to
+# enable generation of interactive SVG images that allow zooming and panning.
+#
+# Note that this requires a modern browser other than Internet Explorer. Tested
+# and working are Firefox, Chrome, Safari, and Opera.
+# Note: For IE 9+ you need to set HTML_FILE_EXTENSION to xhtml in order to make
+# the SVG files visible. Older versions of IE do not have SVG support.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INTERACTIVE_SVG = NO
+
+# The DOT_PATH tag can be used to specify the path where the dot tool can be
+# found. If left blank, it is assumed the dot tool can be found in the path.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_PATH =
+
+# The DOTFILE_DIRS tag can be used to specify one or more directories that
+# contain dot files that are included in the documentation (see the \dotfile
+# command).
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOTFILE_DIRS =
+
+# The MSCFILE_DIRS tag can be used to specify one or more directories that
+# contain msc files that are included in the documentation (see the \mscfile
+# command).
+
+MSCFILE_DIRS =
+
+# The DIAFILE_DIRS tag can be used to specify one or more directories that
+# contain dia files that are included in the documentation (see the \diafile
+# command).
+
+DIAFILE_DIRS =
+
+# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of nodes
+# that will be shown in the graph. If the number of nodes in a graph becomes
+# larger than this value, doxygen will truncate the graph, which is visualized
+# by representing a node as a red box. Note that doxygen if the number of direct
+# children of the root node in a graph is already larger than
+# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note that
+# the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
+# Minimum value: 0, maximum value: 10000, default value: 50.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_GRAPH_MAX_NODES = 50
+
+# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the graphs
+# generated by dot. A depth value of 3 means that only nodes reachable from the
+# root by following a path via at most 3 edges will be shown. Nodes that lay
+# further from the root node will be omitted. Note that setting this option to 1
+# or 2 may greatly reduce the computation time needed for large code bases. Also
+# note that the size of a graph can be further restricted by
+# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction.
+# Minimum value: 0, maximum value: 1000, default value: 0.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+MAX_DOT_GRAPH_DEPTH = 0
+
+# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent
+# background. This is disabled by default, because dot on Windows does not seem
+# to support this out of the box.
+#
+# Warning: Depending on the platform used, enabling this option may lead to
+# badly anti-aliased labels on the edges of a graph (i.e. they become hard to
+# read).
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_TRANSPARENT = NO
+
+# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output
+# files in one run (i.e. multiple -o and -T options on the command line). This
+# makes dot run faster, but since only newer versions of dot (>1.8.10) support
+# this, this feature is disabled by default.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_MULTI_TARGETS = YES
+
+# If the GENERATE_LEGEND tag is set to YES doxygen will generate a legend page
+# explaining the meaning of the various boxes and arrows in the dot generated
+# graphs.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GENERATE_LEGEND = YES
+
+# If the DOT_CLEANUP tag is set to YES doxygen will remove the intermediate dot
+# files that are used to generate the various graphs.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_CLEANUP = YES
diff --git a/simulation/frc_gazebo_plugins/scripts/frcgazebo b/simulation/frc_gazebo_plugins/scripts/frcgazebo
new file mode 100644
index 0000000..d0e9a75
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/scripts/frcgazebo
@@ -0,0 +1,63 @@
+#!/bin/bash
+#---------------------------------------------------------------------------
+# Copyright (c) 2018 FIRST. All Rights Reserved.
+# Open Source Software - may be modified and shared by FRC teams. The code
+# must be accompanied by the FIRST BSD license file in the root directory of
+# the project.
+#----------------------------------------------------------------------------
+
+#----------------------------------------------------------------------------
+# Invoke gazebo, giving it the environment variables
+# it needs to find the FRC plugins and models.
+#----------------------------------------------------------------------------
+usage() {
+ echo $1: Invoke Gazebo for FRC
+ echo Usage:
+ echo " $1 name-of-world-file"
+}
+
+d=`dirname "$0"`
+fulldir=`(cd "$d"; pwd)`
+sharedir=/usr/share/frcgazebo
+if [ -d "$fulldir/../share" ] ; then
+ sharedir=`(cd "$fulldir/../share/frcgazebo"; pwd)`
+fi
+
+# While we wait for the frc gazebo models to have a proper
+# home, we require the user to make them accessible
+if [ ! -d "$sharedir" ] ; then
+ cravedir=`(cd "$fulldir/../"; pwd)`
+ echo Error: you must manually place the models and world into $cravedir/share/frcgazebo
+ exit 2
+fi
+
+libsdir=/invalid/directory
+if [ -d "$fulldir/../libs" ] ; then
+ libsdir=`(cd "$fulldir/../libs"; pwd)`
+fi
+
+# Use exactly the file they gave us, or find it in ../share/frcgazebo/worlds,
+# or find it there by adding a .world extension
+world="$1"
+if [ ! -f "$world" ] ; then
+ world="$sharedir/worlds/$1"
+fi
+if [ ! -f "$world" ] ; then
+ world="$sharedir/worlds/$1.world"
+fi
+
+if [ $# -ne 1 -o "x${1:0:1}" = "x-" ] ; then
+ usage `basename $0`
+ exit 1
+fi
+if [ ! -f "$world" ] ; then
+ echo Could not find $1 directly or in $sharedir/worlds
+ exit 2
+fi
+
+export GAZEBO_MODEL_PATH="$sharedir/models":$GAZEBO_MODEL_PATH
+for x in `find "$libsdir" -type d -name shared` ; do
+ export GAZEBO_PLUGIN_PATH="$x:$GAZEBO_PLUGIN_PATH"
+done
+
+gazebo "$world"
diff --git a/simulation/frc_gazebo_plugins/src/clock/cpp/clock.cpp b/simulation/frc_gazebo_plugins/src/clock/cpp/clock.cpp
new file mode 100644
index 0000000..c7440eb
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/clock/cpp/clock.cpp
@@ -0,0 +1,44 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "clock.h"
+
+#include <boost/algorithm/string/replace.hpp>
+
+GZ_REGISTER_MODEL_PLUGIN(Clock)
+
+void Clock::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
+ this->model = model;
+
+ // Parse SDF properties
+ if (sdf->HasElement("topic")) {
+ topic = sdf->Get<std::string>("topic");
+ } else {
+ topic = "~/" + sdf->GetAttribute("name")->GetAsString();
+ }
+
+ gzmsg << "Initializing clock: " << topic << std::endl;
+
+ // Connect to Gazebo transport for messaging
+ std::string scoped_name =
+ model->GetWorld()->Name() + "::" + model->GetScopedName();
+ boost::replace_all(scoped_name, "::", "/");
+ node = gazebo::transport::NodePtr(new gazebo::transport::Node());
+ node->Init(scoped_name);
+ pub = node->Advertise<gazebo::msgs::Float64>(topic);
+
+ // Connect to the world update event.
+ // This will trigger the Update function every Gazebo iteration
+ updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
+ boost::bind(&Clock::Update, this, _1));
+}
+
+void Clock::Update(const gazebo::common::UpdateInfo& info) {
+ gazebo::msgs::Float64 msg;
+ msg.set_data(info.simTime.Double());
+ pub->Publish(msg);
+}
diff --git a/simulation/frc_gazebo_plugins/src/clock/headers/clock.h b/simulation/frc_gazebo_plugins/src/clock/headers/clock.h
new file mode 100644
index 0000000..fcdc2bd
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/clock/headers/clock.h
@@ -0,0 +1,58 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/transport/transport.hh>
+
+#include "simulation/gz_msgs/msgs.h"
+
+/**
+ * \brief Plugin for publishing the simulation time.
+ *
+ * This plugin publishes the simualtaion time in seconds every physics
+ * update.
+ *
+ * To add a clock to your robot, add the following XML to your robot
+ * model:
+ *
+ * <plugin name="my_clock" filename="libclock.so">
+ * <topic>~/my/topic</topic>
+ * </plugin>
+ *
+ * - `topic`: Optional. Message will be published as a gazebo.msgs.Float64.
+ *
+ * \todo Make WorldPlugin?
+ */
+class Clock : public gazebo::ModelPlugin {
+ public:
+ /// \brief Load the clock and configures it according to the sdf.
+ void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
+
+ /// \brief Sends out time each timestep.
+ void Update(const gazebo::common::UpdateInfo& info);
+
+ private:
+ /// \brief Publish the time on this topic.
+ std::string topic;
+
+ /// \brief The model to which this is attached.
+ gazebo::physics::ModelPtr model;
+
+ /// \brief Pointer to the world update function.
+ gazebo::event::ConnectionPtr updateConn;
+
+ /// \brief The node on which we're advertising.
+ gazebo::transport::NodePtr node;
+
+ /// \brief Publisher handle.
+ gazebo::transport::PublisherPtr pub;
+};
diff --git a/simulation/frc_gazebo_plugins/src/clockTest/cpp/clockTest.cpp b/simulation/frc_gazebo_plugins/src/clockTest/cpp/clockTest.cpp
new file mode 100644
index 0000000..275425c
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/clockTest/cpp/clockTest.cpp
@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include <simulation/gz_msgs/msgs.h>
+
+#include <gazebo/gazebo.hh>
+#include <gazebo/gazebo_client.hh>
+#include <gazebo/msgs/msgs.hh>
+#include <gazebo/sensors/sensors.hh>
+#include <gazebo/transport/transport.hh>
+
+#include "gtest/gtest.h"
+
+using namespace testing;
+
+static char* library;
+static char* world_sdf;
+static double latest_time;
+
+void cb(gazebo::msgs::ConstFloat64Ptr& msg) { latest_time = msg->data(); }
+
+TEST(ClockTests, test_clock) {
+ gazebo::physics::WorldPtr world;
+
+ ASSERT_TRUE(library);
+ ASSERT_TRUE(!access(library, X_OK | R_OK));
+ ASSERT_TRUE(world_sdf);
+ ASSERT_TRUE(!access(world_sdf, R_OK));
+
+ gazebo::addPlugin(library);
+ ASSERT_TRUE(gazebo::setupServer());
+
+ world = gazebo::loadWorld(world_sdf);
+ ASSERT_TRUE(world != NULL);
+
+ ASSERT_TRUE(gazebo::client::setup());
+
+ gazebo::transport::NodePtr node(new gazebo::transport::Node());
+ node->Init();
+
+ gazebo::transport::SubscriberPtr sub =
+ node->Subscribe("/gazebo/frc/time", cb);
+
+ gazebo::sensors::run_once(true);
+ gazebo::sensors::run_threads();
+ gazebo::common::Time::MSleep(1);
+
+ double start = latest_time;
+
+ for (unsigned int i = 0; i < 1000; ++i) {
+ gazebo::runWorld(world, 1);
+ gazebo::sensors::run_once();
+ gazebo::common::Time::MSleep(1);
+ }
+
+ double end = latest_time;
+
+ ASSERT_TRUE(end > start);
+ ASSERT_TRUE(gazebo::client::shutdown());
+ ASSERT_TRUE(gazebo::shutdown());
+}
+
+int main(int argc, char** argv) {
+ testing::InitGoogleTest(&argc, argv);
+
+ if (argc >= 1) library = argv[1];
+
+ if (argc >= 2) world_sdf = argv[2];
+
+ return RUN_ALL_TESTS();
+}
diff --git a/simulation/frc_gazebo_plugins/src/clockTest/world/clockTest.world b/simulation/frc_gazebo_plugins/src/clockTest/world/clockTest.world
new file mode 100644
index 0000000..e6f7cfd
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/clockTest/world/clockTest.world
@@ -0,0 +1,17 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+ <world name="default">
+ <scene>
+ <ambient>0.2 0.2 0.2 1</ambient>
+ <background>1 1 1 1</background>
+ <shadows>false</shadows>
+ <grid>false</grid>
+ <origin_visual>false</origin_visual>
+ </scene>
+ <model name='Clock'>
+ <plugin name='clock' filename='libclock.so'>
+ <topic>/gazebo/frc/time</topic>
+ </plugin>
+ </model>
+ </world>
+</sdf>
diff --git a/simulation/frc_gazebo_plugins/src/dc_motor/cpp/dc_motor.cpp b/simulation/frc_gazebo_plugins/src/dc_motor/cpp/dc_motor.cpp
new file mode 100644
index 0000000..8cc3039
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/dc_motor/cpp/dc_motor.cpp
@@ -0,0 +1,60 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "dc_motor.h"
+
+#include <boost/algorithm/string/replace.hpp>
+
+GZ_REGISTER_MODEL_PLUGIN(DCMotor)
+
+void DCMotor::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
+ this->model = model;
+ signal = 0;
+
+ // Parse SDF properties
+ joint = model->GetJoint(sdf->Get<std::string>("joint"));
+ if (sdf->HasElement("topic")) {
+ topic = sdf->Get<std::string>("topic");
+ } else {
+ topic = "~/" + sdf->GetAttribute("name")->GetAsString();
+ }
+
+ if (sdf->HasElement("multiplier")) {
+ multiplier = sdf->Get<double>("multiplier");
+ } else {
+ multiplier = 1;
+ }
+
+ gzmsg << "Initializing motor: " << topic << " joint=" << joint->GetName()
+ << " multiplier=" << multiplier << std::endl;
+
+ // Connect to Gazebo transport for messaging
+ std::string scoped_name =
+ model->GetWorld()->Name() + "::" + model->GetScopedName();
+ boost::replace_all(scoped_name, "::", "/");
+ node = gazebo::transport::NodePtr(new gazebo::transport::Node());
+ node->Init(scoped_name);
+ sub = node->Subscribe(topic, &DCMotor::Callback, this);
+
+ // Connect to the world update event.
+ // This will trigger the Update function every Gazebo iteration
+ updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
+ boost::bind(&DCMotor::Update, this, _1));
+}
+
+void DCMotor::Update(const gazebo::common::UpdateInfo& info) {
+ joint->SetForce(0, signal * multiplier);
+}
+
+void DCMotor::Callback(const gazebo::msgs::ConstFloat64Ptr& msg) {
+ signal = msg->data();
+ if (signal < -1) {
+ signal = -1;
+ } else if (signal > 1) {
+ signal = 1;
+ }
+}
diff --git a/simulation/frc_gazebo_plugins/src/dc_motor/headers/dc_motor.h b/simulation/frc_gazebo_plugins/src/dc_motor/headers/dc_motor.h
new file mode 100644
index 0000000..f9c2523
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/dc_motor/headers/dc_motor.h
@@ -0,0 +1,73 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/transport/transport.hh>
+
+#include "simulation/gz_msgs/msgs.h"
+
+/**
+ * \brief Plugin for controlling a joint with a DC motor.
+ *
+ * This plugin subscribes to a topic to get a signal in the range
+ * [-1,1]. Every physics update the joint's torque is set as
+ * multiplier*signal.
+ *
+ * To add a DC motor to your robot, add the following XML to your
+ * robot model:
+ *
+ * <plugin name="my_motor" filename="libdc_motor.so">
+ * <joint>Joint Name</joint>
+ * <topic>~/my/topic</topic>
+ * <multiplier>Number</multiplier>
+ * </plugin>
+ *
+ * - `joint`: Name of the joint this Dc motor is attached to.
+ * - `topic`: Optional. Message type should be gazebo.msgs.Float64.
+ * - `multiplier`: Optional. Defaults to 1.
+ */
+class DCMotor : public gazebo::ModelPlugin {
+ public:
+ /// \brief Load the dc motor and configures it according to the sdf.
+ void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
+
+ /// \brief Update the torque on the joint from the dc motor each timestep.
+ void Update(const gazebo::common::UpdateInfo& info);
+
+ private:
+ /// \brief Topic to read control signal from.
+ std::string topic;
+
+ /// \brief The pwm signal limited to the range [-1,1].
+ double signal;
+
+ /// \brief The magic torque multiplier. torque=multiplier*signal
+ double multiplier;
+
+ /// \brief The joint that this dc motor drives.
+ gazebo::physics::JointPtr joint;
+
+ /// \brief Callback for receiving msgs and storing the signal.
+ void Callback(const gazebo::msgs::ConstFloat64Ptr& msg);
+
+ /// \brief The model to which this is attached.
+ gazebo::physics::ModelPtr model;
+
+ /// \brief Pointer toe the world update function.
+ gazebo::event::ConnectionPtr updateConn;
+
+ /// \brief The node on which we're advertising.
+ gazebo::transport::NodePtr node;
+
+ /// \brief Subscriber handle.
+ gazebo::transport::SubscriberPtr sub;
+};
diff --git a/simulation/frc_gazebo_plugins/src/drive_motor/cpp/drive_motor.cpp b/simulation/frc_gazebo_plugins/src/drive_motor/cpp/drive_motor.cpp
new file mode 100644
index 0000000..e6511bb
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/drive_motor/cpp/drive_motor.cpp
@@ -0,0 +1,134 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "drive_motor.h"
+
+#include <boost/algorithm/string/replace.hpp>
+
+GZ_REGISTER_MODEL_PLUGIN(DriveMotor)
+
+void DriveMotor::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
+ this->model = model;
+ signal = 0;
+
+ // Parse SDF properties
+ joint = model->GetJoint(sdf->Get<std::string>("joint"));
+ if (!joint) {
+ gzerr << "Error initializing drive motor: could not get joint";
+ return;
+ }
+
+ parent = joint->GetParent();
+ if (!parent) {
+ gzerr << "Error initializing drive motor: could not get parent";
+ return;
+ }
+
+ child = joint->GetChild();
+ if (!child) {
+ gzerr << "Error initializing drive motor: could not get child";
+ return;
+ }
+
+ if (sdf->HasElement("topic")) {
+ topic = sdf->Get<std::string>("topic");
+ } else {
+ topic = "~/" + sdf->GetAttribute("name")->GetAsString();
+ }
+
+ if (sdf->HasElement("max_speed")) {
+ maxSpeed = sdf->Get<double>("max_speed");
+ } else {
+ maxSpeed = 0;
+ }
+
+ if (sdf->HasElement("multiplier")) {
+ multiplier = sdf->Get<double>("multiplier");
+ } else {
+ multiplier = 1;
+ }
+
+ if (sdf->HasElement("dx")) {
+ dx = sdf->Get<double>("dx");
+ } else {
+ dx = 0;
+ }
+
+ if (sdf->HasElement("dy")) {
+ dy = sdf->Get<double>("dy");
+ } else {
+ dy = 0;
+ }
+
+ if (sdf->HasElement("dz")) {
+ dz = sdf->Get<double>("dz");
+ } else {
+ dz = 0;
+ }
+
+ gzmsg << "Initializing drive motor: " << topic
+ << " parent=" << parent->GetName() << " directions=" << dx << " " << dy
+ << " " << dz << " multiplier=" << multiplier << std::endl;
+
+ // Connect to Gazebo transport for messaging
+ std::string scoped_name =
+ model->GetWorld()->Name() + "::" + model->GetScopedName();
+ boost::replace_all(scoped_name, "::", "/");
+ node = gazebo::transport::NodePtr(new gazebo::transport::Node());
+ node->Init(scoped_name);
+ sub = node->Subscribe(topic, &DriveMotor::Callback, this);
+
+ // Connect to the world update event.
+ // This will trigger the Update function every Gazebo iteration
+ updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
+ boost::bind(&DriveMotor::Update, this, _1));
+}
+
+static double computeForce(double input, double velocity, double max) {
+ double output = input;
+ if (max == 0.0) return output;
+ if (std::fabs(velocity) >= max) {
+ output = 0;
+ } else {
+ double reduce = (max - std::fabs(velocity)) / max;
+ output *= reduce;
+ }
+ return output;
+}
+
+void DriveMotor::Update(const gazebo::common::UpdateInfo& info) {
+#if GAZEBO_MAJOR_VERSION >= 8
+ ignition::math::Vector3d velocity = parent->RelativeLinearVel();
+#else
+ ignition::math::Vector3d velocity = parent->GetRelativeLinearVel().Ign();
+#endif
+
+ if (signal == 0) return;
+
+ double x = computeForce(signal * dx * multiplier, velocity.X(),
+ std::fabs(maxSpeed * dx));
+ double y = computeForce(signal * dy * multiplier, velocity.Y(),
+ std::fabs(maxSpeed * dy));
+ double z = computeForce(signal * dz * multiplier, velocity.Z(),
+ std::fabs(maxSpeed * dz));
+
+ ignition::math::Vector3d force(x, y, z);
+#if GAZEBO_MAJOR_VERSION >= 8
+ parent->AddLinkForce(force, child->RelativePose().Pos());
+#else
+ parent->AddLinkForce(force, child->GetRelativePose().Ign().Pos());
+#endif
+}
+
+void DriveMotor::Callback(const gazebo::msgs::ConstFloat64Ptr& msg) {
+ signal = msg->data();
+ if (signal < -1) {
+ signal = -1;
+ } else if (signal > 1) {
+ signal = 1;
+ }
+}
diff --git a/simulation/frc_gazebo_plugins/src/drive_motor/headers/drive_motor.h b/simulation/frc_gazebo_plugins/src/drive_motor/headers/drive_motor.h
new file mode 100644
index 0000000..2033223
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/drive_motor/headers/drive_motor.h
@@ -0,0 +1,126 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/transport/transport.hh>
+
+#include "simulation/gz_msgs/msgs.h"
+
+/**
+ * \brief Plugin for simulating a drive motor
+ *
+ * This plugin attempts to overcome a limitation in gazebo.
+ * That is, most normal FRC robots rely on wheels that have good
+ * traction in one direction, and less traction in the opposite
+ * direction.
+ *
+ * Gazebo does not model that well (in fact, drive wheels are
+ * quite hard to simulate).
+ *
+ * So this plugin subscribes to a PWM output signal and applies
+ * a force to the chassis at the proscribed point in hopefully
+ * the correct direction. The SDF model can then have lower friction,
+ * and it should turn more naturally.
+ *
+ * This plugin also attempts to simulate the limitations of a drive
+ * motor, most notably the maximum speed any given motor can spin at.
+ * The initial implemention is quite naive; just a linear reduction
+ * in force as a product of velocity/max velocity.
+ *
+ * Nicely, this plugin let's you generate a force in any of
+ * three axes. That is helpful for simulating a mecanum drive.
+ *
+ * This plugin subscribes to a topic to get a signal in the range
+ * [-1,1]. Every physics update the joint's torque is set as
+ * multiplier*signal*direction.
+ *
+ * To add a drive motor to your robot, add the following XML to your
+ * robot model:
+ *
+ * <plugin name="my_motor" filename="libdrive_motor.so">
+ * <joint>Joint Name</joint>
+ * <topic>~/my/topic</topic>
+ * <multiplier>Number</multiplier>
+ * <max_speed>Number</max_speed>
+ * <dx>-1, 0, or 1</dx>
+ * <dy>-1, 0, or 1</dy>
+ * <dz>-1, 0, or 1</dz>
+ * </plugin>
+ *
+ * - `joint`: Name of the joint this Dc motor is attached to.
+ * - `topic`: Optional. Message type should be gazebo.msgs.Float64.
+ * A typical topic looks like this:
+ * /gazebo/frc/simulator/pwm/<n>
+ * - `multiplier`: Optional. Defaults to 1. Force applied by this motor.
+ * This is force in Newtons.
+ * - `max_speed`: Optional. Defaults to no maximum.
+ * This is, in theory, meters/second. Note that friction
+ * and other forces will also slow down a robot.
+ * In practice, this term can be tuned until the robot feels right.
+ * - `dx`: These three constants must be set to either -1, 0, or 1
+ * - `dy`: This controls whether or not the motor produces force
+ * - `dz`: along a given axis, and what direction. Each defaults to 0.
+ * These are relative to the frame of the parent link of the joint.
+ * So they are usually relative to a chassis.
+ * The force is applied at the point that the joint connects to
+ * the parent link.
+ */
+class DriveMotor : public gazebo::ModelPlugin {
+ public:
+ /// \brief Load the dc motor and configures it according to the sdf.
+ void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
+
+ /// \brief Update the force on the parent of the joint from each timestep.
+ void Update(const gazebo::common::UpdateInfo& info);
+
+ private:
+ /// \brief Topic to read control signal from.
+ std::string topic;
+
+ /// \brief The pwm signal limited to the range [-1,1].
+ double signal;
+
+ /// \brief The robot's maximum speed
+ double maxSpeed;
+
+ /// \brief The magic drive force multipliers. force=multiplier*signal
+ double multiplier;
+
+ /// \brief The directional constants limited to -1, 0, or 1.
+ double dx;
+ double dy;
+ double dz;
+
+ /// \brief The joint that this motor drives.
+ gazebo::physics::JointPtr joint;
+
+ /// \brief The parent of this joint; usually a chassis
+ gazebo::physics::LinkPtr parent;
+
+ /// \brief The child of this joint; usually a wheel
+ gazebo::physics::LinkPtr child;
+
+ /// \brief Callback for receiving msgs and storing the signal.
+ void Callback(const gazebo::msgs::ConstFloat64Ptr& msg);
+
+ /// \brief The model to which this is attached.
+ gazebo::physics::ModelPtr model;
+
+ /// \brief Pointer toe the world update function.
+ gazebo::event::ConnectionPtr updateConn;
+
+ /// \brief The node on which we're advertising.
+ gazebo::transport::NodePtr node;
+
+ /// \brief Subscriber handle.
+ gazebo::transport::SubscriberPtr sub;
+};
diff --git a/simulation/frc_gazebo_plugins/src/encoder/cpp/encoder.cpp b/simulation/frc_gazebo_plugins/src/encoder/cpp/encoder.cpp
new file mode 100644
index 0000000..37551f2
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/encoder/cpp/encoder.cpp
@@ -0,0 +1,102 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "encoder.h"
+
+#include <boost/algorithm/string/replace.hpp>
+
+GZ_REGISTER_MODEL_PLUGIN(Encoder)
+
+void Encoder::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
+ this->model = model;
+
+ // Parse SDF properties
+ joint = model->GetJoint(sdf->Get<std::string>("joint"));
+ if (sdf->HasElement("topic")) {
+ topic = sdf->Get<std::string>("topic");
+ } else {
+ topic = "~/" + sdf->GetAttribute("name")->GetAsString();
+ }
+
+ if (sdf->HasElement("units")) {
+ radians = sdf->Get<std::string>("units") != "degrees";
+ } else {
+ radians = true;
+ }
+ multiplier = 1.0;
+ zero = GetAngle();
+ stopped = true;
+ stop_value = 0;
+
+ if (sdf->HasElement("multiplier"))
+ multiplier = sdf->Get<double>("multiplier");
+
+ gzmsg << "Initializing encoder: " << topic << " joint=" << joint->GetName()
+ << " radians=" << radians << " multiplier=" << multiplier << std::endl;
+
+ // Connect to Gazebo transport for messaging
+ std::string scoped_name =
+ model->GetWorld()->Name() + "::" + model->GetScopedName();
+ boost::replace_all(scoped_name, "::", "/");
+ node = gazebo::transport::NodePtr(new gazebo::transport::Node());
+ node->Init(scoped_name);
+ command_sub = node->Subscribe(topic + "/control", &Encoder::Callback, this);
+ pos_pub = node->Advertise<gazebo::msgs::Float64>(topic + "/position");
+ vel_pub = node->Advertise<gazebo::msgs::Float64>(topic + "/velocity");
+
+ // Connect to the world update event.
+ // This will trigger the Update function every Gazebo iteration
+ updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
+ boost::bind(&Encoder::Update, this, _1));
+}
+
+void Encoder::Update(const gazebo::common::UpdateInfo& info) {
+ gazebo::msgs::Float64 pos_msg, vel_msg;
+ if (stopped) {
+ pos_msg.set_data(stop_value * multiplier);
+ pos_pub->Publish(pos_msg);
+ vel_msg.set_data(0);
+ vel_pub->Publish(vel_msg);
+ } else {
+ pos_msg.set_data((GetAngle() - zero) * multiplier);
+ pos_pub->Publish(pos_msg);
+ vel_msg.set_data(GetVelocity() * multiplier);
+ vel_pub->Publish(vel_msg);
+ }
+}
+
+void Encoder::Callback(const gazebo::msgs::ConstStringPtr& msg) {
+ std::string command = msg->data();
+ if (command == "reset") {
+ zero = GetAngle();
+ } else if (command == "start") {
+ stopped = false;
+ zero = (GetAngle() - stop_value);
+ } else if (command == "stop") {
+ stopped = true;
+ stop_value = GetAngle();
+ } else {
+ gzerr << "WARNING: Encoder got unknown command '" << command << "'."
+ << std::endl;
+ }
+}
+
+double Encoder::GetAngle() {
+ if (radians) {
+ return joint->Position(0);
+ } else {
+ return joint->Position(0) * (180.0 / M_PI);
+ }
+}
+
+double Encoder::GetVelocity() {
+ if (radians) {
+ return joint->GetVelocity(0);
+ } else {
+ return joint->GetVelocity(0) * (180.0 / M_PI);
+ }
+}
diff --git a/simulation/frc_gazebo_plugins/src/encoder/headers/encoder.h b/simulation/frc_gazebo_plugins/src/encoder/headers/encoder.h
new file mode 100644
index 0000000..c33f708
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/encoder/headers/encoder.h
@@ -0,0 +1,112 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/transport/transport.hh>
+
+#include "simulation/gz_msgs/msgs.h"
+
+/**
+ * \brief Plugin for reading the speed and relative angle of a joint.
+ *
+ * This plugin publishes the angle since last reset and the speed of a
+ * given joint to subtopics of the given topic every physics
+ * update. There is also a control subtopic that takes three commands:
+ * "start", "stop" and "reset":
+ *
+ * - "start": Start counting ticks from the current count.
+ * - "stop": Stop counting ticks, pauses updates.
+ * - "reset": Set the current angle to zero.
+ *
+ * To add a encoder to your robot, add the following XML to your
+ * robot model:
+ *
+ * <plugin name="my_encoder" filename="libencoder.so">
+ * <joint>Joint Name</joint>
+ * <topic>~/my/topic</topic>
+ * <units>{degrees, radians}</units>
+ * <multiplier>Number</multiplier>
+ * </plugin>
+ *
+ * - `joint`: Name of the joint this encoder is attached to.
+ * - `topic`: Optional. Used as the root for subtopics. `topic`/position
+ * (gazebo.msgs.Float64),
+ * `topic`/velocity (gazebo.msgs.Float64), `topic`/control
+ * (gazebo.msgs.String)
+ * The suggested value for topic is of the form
+ * ~/simulator/encoder/dio/<n>
+ * where <n> is the number of the first digital input channel
+ * used to formulate the encoder
+ *
+ * - `units`: Optional. Defaults to radians.
+ * - `multiplier`: Optional. Defaults to 1.
+ * This can be used to make the simulated encoder
+ * return a comparable number of ticks to a 'real' encoder
+ * Useful facts: A 'degrees' encoder will report 360 ticks/revolution.
+ * The k4X encoder type can add another multiple of 4 into the mix.
+ */
+class Encoder : public gazebo::ModelPlugin {
+ public:
+ /// \brief Load the encoder and configures it according to the sdf.
+ void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
+
+ /// \brief Sends out the encoder reading each timestep.
+ void Update(const gazebo::common::UpdateInfo& info);
+
+ private:
+ /// \brief Root topic for subtopics on this topic.
+ std::string topic;
+
+ /// \brief Whether or not this encoder measures radians or degrees.
+ bool radians;
+
+ /// \brief A factor to mulitply this output by.
+ double multiplier;
+
+ /// \brief Whether or not the encoder has been stopped.
+ bool stopped;
+
+ /// \brief The zero value of the encoder.
+ double zero;
+
+ /// \brief The value the encoder stopped counting at
+ double stop_value;
+
+ /// \brief The joint that this encoder measures
+ gazebo::physics::JointPtr joint;
+
+ /// \brief Callback for handling control data
+ void Callback(const gazebo::msgs::ConstStringPtr& msg);
+
+ /// \brief Gets the current angle, taking into account whether to
+ /// return radians or degrees.
+ double GetAngle();
+
+ /// \brief Gets the current velocity, taking into account whether to
+ /// return radians/second or degrees/second.
+ double GetVelocity();
+
+ /// \brief The model to which this is attached.
+ gazebo::physics::ModelPtr model;
+
+ /// \brief Pointer to the world update function.
+ gazebo::event::ConnectionPtr updateConn;
+
+ /// \brief The node on which we're advertising.
+ gazebo::transport::NodePtr node;
+
+ /// \brief Subscriber handle.
+ gazebo::transport::SubscriberPtr command_sub;
+
+ /// \brief Publisher handles.
+ gazebo::transport::PublisherPtr pos_pub, vel_pub;
+};
diff --git a/simulation/frc_gazebo_plugins/src/gyro/cpp/gyro.cpp b/simulation/frc_gazebo_plugins/src/gyro/cpp/gyro.cpp
new file mode 100644
index 0000000..65d42b7
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/gyro/cpp/gyro.cpp
@@ -0,0 +1,111 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "gyro.h"
+
+#include <boost/algorithm/string/replace.hpp>
+
+GZ_REGISTER_MODEL_PLUGIN(Gyro)
+
+void Gyro::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
+ this->model = model;
+
+ // Parse SDF properties
+ link = model->GetLink(sdf->Get<std::string>("link"));
+ if (sdf->HasElement("topic")) {
+ topic = sdf->Get<std::string>("topic");
+ } else {
+ topic = "~/" + sdf->GetAttribute("name")->GetAsString();
+ }
+
+ std::string axisString = sdf->Get<std::string>("axis");
+ if (axisString == "roll") axis = Roll;
+ if (axisString == "pitch") axis = Pitch;
+ if (axisString == "yaw") axis = Yaw;
+
+ if (sdf->HasElement("units")) {
+ radians = sdf->Get<std::string>("units") != "degrees";
+ } else {
+ radians = true;
+ }
+ zero = GetAngle();
+
+ gzmsg << "Initializing gyro: " << topic << " link=" << link->GetName()
+ << " axis=" << axis << " radians=" << radians << std::endl;
+
+ // Connect to Gazebo transport for messaging
+ std::string scoped_name =
+ model->GetWorld()->Name() + "::" + model->GetScopedName();
+ boost::replace_all(scoped_name, "::", "/");
+ node = gazebo::transport::NodePtr(new gazebo::transport::Node());
+ node->Init(scoped_name);
+ command_sub = node->Subscribe(topic + "/control", &Gyro::Callback, this);
+ pos_pub = node->Advertise<gazebo::msgs::Float64>(topic + "/position");
+ vel_pub = node->Advertise<gazebo::msgs::Float64>(topic + "/velocity");
+
+ // Connect to the world update event.
+ // This will trigger the Update function every Gazebo iteration
+ updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
+ boost::bind(&Gyro::Update, this, _1));
+}
+
+void Gyro::Update(const gazebo::common::UpdateInfo& info) {
+ gazebo::msgs::Float64 pos_msg, vel_msg;
+ pos_msg.set_data(Limit(GetAngle() - zero));
+ pos_pub->Publish(pos_msg);
+ vel_msg.set_data(GetVelocity());
+ vel_pub->Publish(vel_msg);
+}
+
+void Gyro::Callback(const gazebo::msgs::ConstStringPtr& msg) {
+ std::string command = msg->data();
+ if (command == "reset") {
+ zero = GetAngle();
+ } else {
+ gzerr << "WARNING: Gyro got unknown command '" << command << "'."
+ << std::endl;
+ }
+}
+
+double Gyro::GetAngle() {
+ if (radians) {
+ return link->WorldCoGPose().Rot().Euler()[axis];
+ } else {
+ return link->WorldCoGPose().Rot().Euler()[axis] * (180.0 / M_PI);
+ }
+}
+
+double Gyro::GetVelocity() {
+ if (radians) {
+ return link->RelativeAngularVel()[axis];
+ } else {
+ return link->RelativeAngularVel()[axis] * (180.0 / M_PI);
+ }
+}
+
+double Gyro::Limit(double value) {
+ if (radians) {
+ while (true) {
+ if (value < -M_PI)
+ value += 2 * M_PI;
+ else if (value > M_PI)
+ value -= 2 * M_PI;
+ else
+ break;
+ }
+ } else {
+ while (true) {
+ if (value < -180)
+ value += 360;
+ else if (value > 180)
+ value -= 360;
+ else
+ break;
+ }
+ }
+ return value;
+}
diff --git a/simulation/frc_gazebo_plugins/src/gyro/headers/gyro.h b/simulation/frc_gazebo_plugins/src/gyro/headers/gyro.h
new file mode 100644
index 0000000..3faa144
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/gyro/headers/gyro.h
@@ -0,0 +1,98 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/transport/transport.hh>
+
+#include "simulation/gz_msgs/msgs.h"
+
+/// \brief The axis about which to measure rotation.
+typedef enum { Roll /*X*/, Pitch /*Y*/, Yaw /*Z*/ } ROTATION;
+
+/**
+ * \brief Plugin for reading the speed and relative angle of a link.
+ *
+ * This plugin publishes the angle since last reset and the speed
+ * which a link is rotating about some axis to subtopics of the given
+ * topic every physics update. There is also a control topic that
+ * takes one command: "reset", which sets the current angle as zero.
+ *
+ * To add a gyro to your robot, add the following XML to your robot
+ * model:
+ *
+ * <plugin name="my_gyro" filename="libgyro.so">
+ * <link>Joint Name</link>
+ * <topic>~/my/topic</topic>
+ * <units>{degrees, radians}</units>
+ * </plugin>
+ *
+ * - `link`: Name of the link this potentiometer is attached to.
+ * - `topic`: Optional. Used as the root for subtopics. `topic`/position
+ * (gazebo.msgs.Float64),
+ * `topic`/velocity (gazebo.msgs.Float64), `topic`/control
+ * (gazebo.msgs.String)
+ * - `units`; Optional, defaults to radians.
+ */
+class Gyro : public gazebo::ModelPlugin {
+ public:
+ /// \brief Load the gyro and configures it according to the sdf.
+ void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
+
+ /// \brief Sends out the gyro reading each timestep.
+ void Update(const gazebo::common::UpdateInfo& info);
+
+ private:
+ /// \brief Publish the angle on this topic.
+ std::string topic;
+
+ /// \brief Whether or not this gyro measures radians or degrees.
+ bool radians;
+
+ /// \brief The axis to measure rotation about.
+ ROTATION axis;
+
+ /// \brief The zero value of the gyro.
+ double zero;
+
+ /// \brief The link that this gyro measures
+ gazebo::physics::LinkPtr link;
+
+ /// \brief Callback for handling control data
+ void Callback(const gazebo::msgs::ConstStringPtr& msg);
+
+ /// \brief Gets the current angle, taking into account whether to
+ /// return radians or degrees.
+ double GetAngle();
+
+ /// \brief Gets the current velocity, taking into account whether to
+ /// return radians/second or degrees/second.
+ double GetVelocity();
+
+ /// \brief Limit the value to either [-180,180] or [-PI,PI]
+ /// depending on whether or radians or degrees are being used.
+ double Limit(double value);
+
+ /// \brief The model to which this is attached.
+ gazebo::physics::ModelPtr model;
+
+ /// \brief Pointer to the world update function.
+ gazebo::event::ConnectionPtr updateConn;
+
+ /// \brief The node on which we're advertising.
+ gazebo::transport::NodePtr node;
+
+ /// \brief Subscriber handle.
+ gazebo::transport::SubscriberPtr command_sub;
+
+ /// \brief Publisher handles.
+ gazebo::transport::PublisherPtr pos_pub, vel_pub;
+};
diff --git a/simulation/frc_gazebo_plugins/src/limit_switch/cpp/external_limit_switch.cpp b/simulation/frc_gazebo_plugins/src/limit_switch/cpp/external_limit_switch.cpp
new file mode 100644
index 0000000..c5780ae
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/limit_switch/cpp/external_limit_switch.cpp
@@ -0,0 +1,22 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "external_limit_switch.h"
+
+#include <string>
+
+ExternalLimitSwitch::ExternalLimitSwitch(sdf::ElementPtr sdf) {
+ sensor = std::dynamic_pointer_cast<gazebo::sensors::ContactSensor>(
+ gazebo::sensors::get_sensor(sdf->Get<std::string>("sensor")));
+
+ gzmsg << "\texternal limit switch: "
+ << " sensor=" << sensor->Name() << std::endl;
+}
+
+bool ExternalLimitSwitch::Get() {
+ return sensor->Contacts().contact().size() > 0;
+}
diff --git a/simulation/frc_gazebo_plugins/src/limit_switch/cpp/internal_limit_switch.cpp b/simulation/frc_gazebo_plugins/src/limit_switch/cpp/internal_limit_switch.cpp
new file mode 100644
index 0000000..adfd860
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/limit_switch/cpp/internal_limit_switch.cpp
@@ -0,0 +1,37 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "internal_limit_switch.h"
+
+#include <string>
+
+InternalLimitSwitch::InternalLimitSwitch(gazebo::physics::ModelPtr model,
+ sdf::ElementPtr sdf) {
+ joint = model->GetJoint(sdf->Get<std::string>("joint"));
+ min = sdf->Get<double>("min");
+ max = sdf->Get<double>("max");
+
+ if (sdf->HasElement("units")) {
+ radians = sdf->Get<std::string>("units") != "degrees";
+ } else {
+ radians = true;
+ }
+
+ gzmsg << "\tinternal limit switch: "
+ << " type=" << joint->GetName() << " range=[" << min << "," << max
+ << "] radians=" << radians << std::endl;
+}
+
+bool InternalLimitSwitch::Get() {
+ double value;
+ if (radians) {
+ value = joint->Position(0);
+ } else {
+ value = joint->Position(0) * (180.0 / M_PI);
+ }
+ return value >= min && value <= max;
+}
diff --git a/simulation/frc_gazebo_plugins/src/limit_switch/cpp/limit_switch.cpp b/simulation/frc_gazebo_plugins/src/limit_switch/cpp/limit_switch.cpp
new file mode 100644
index 0000000..34b7ae3
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/limit_switch/cpp/limit_switch.cpp
@@ -0,0 +1,57 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "limit_switch.h"
+
+#include <boost/algorithm/string/replace.hpp>
+
+GZ_REGISTER_MODEL_PLUGIN(LimitSwitch)
+
+void LimitSwitch::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
+ this->model = model;
+
+ // Parse SDF properties
+ if (sdf->HasElement("topic")) {
+ topic = sdf->Get<std::string>("topic");
+ } else {
+ topic = "~/" + sdf->GetAttribute("name")->GetAsString();
+ }
+ invert = sdf->HasElement("invert");
+ std::string type = sdf->Get<std::string>("type");
+
+ gzmsg << "Initializing limit switch: " << topic << " type=" << type
+ << std::endl;
+ if (type == "internal") {
+ ls = new InternalLimitSwitch(model, sdf);
+ } else if (type == "external") {
+ ls = new ExternalLimitSwitch(sdf);
+ } else {
+ gzerr << "WARNING: unsupported limit switch type " << type;
+ }
+
+ // Connect to Gazebo transport for messaging
+ std::string scoped_name =
+ model->GetWorld()->Name() + "::" + model->GetScopedName();
+ boost::replace_all(scoped_name, "::", "/");
+ node = gazebo::transport::NodePtr(new gazebo::transport::Node());
+ node->Init(scoped_name);
+ pub = node->Advertise<gazebo::msgs::Bool>(topic);
+
+ // Connect to the world update event.
+ // This will trigger the Update function every Gazebo iteration
+ updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
+ boost::bind(&LimitSwitch::Update, this, _1));
+}
+
+void LimitSwitch::Update(const gazebo::common::UpdateInfo& info) {
+ gazebo::msgs::Bool msg;
+ if (invert)
+ msg.set_data(!ls->Get());
+ else
+ msg.set_data(ls->Get());
+ pub->Publish(msg);
+}
diff --git a/simulation/frc_gazebo_plugins/src/limit_switch/headers/external_limit_switch.h b/simulation/frc_gazebo_plugins/src/limit_switch/headers/external_limit_switch.h
new file mode 100644
index 0000000..2114b71
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/limit_switch/headers/external_limit_switch.h
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <boost/pointer_cast.hpp>
+#include <gazebo/gazebo.hh>
+#include <gazebo/sensors/sensors.hh>
+
+#ifdef _WIN32
+#include <Winsock2.h>
+#endif
+
+#include "switch.h"
+
+class ExternalLimitSwitch : public Switch {
+ public:
+ explicit ExternalLimitSwitch(sdf::ElementPtr sdf);
+
+ /// \brief Returns true when the switch is triggered.
+ virtual bool Get();
+
+ private:
+ gazebo::sensors::ContactSensorPtr sensor;
+};
diff --git a/simulation/frc_gazebo_plugins/src/limit_switch/headers/internal_limit_switch.h b/simulation/frc_gazebo_plugins/src/limit_switch/headers/internal_limit_switch.h
new file mode 100644
index 0000000..870e8e3
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/limit_switch/headers/internal_limit_switch.h
@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+
+#ifdef _WIN32
+#include <Winsock2.h>
+#endif
+
+#include "switch.h"
+
+class InternalLimitSwitch : public Switch {
+ public:
+ InternalLimitSwitch(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
+
+ /// \brief Returns true when the switch is triggered.
+ virtual bool Get();
+
+ private:
+ gazebo::physics::JointPtr joint;
+ double min, max;
+ bool radians;
+};
diff --git a/simulation/frc_gazebo_plugins/src/limit_switch/headers/limit_switch.h b/simulation/frc_gazebo_plugins/src/limit_switch/headers/limit_switch.h
new file mode 100644
index 0000000..23ae2cc
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/limit_switch/headers/limit_switch.h
@@ -0,0 +1,99 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/transport/transport.hh>
+
+#include "external_limit_switch.h"
+#include "internal_limit_switch.h"
+#include "simulation/gz_msgs/msgs.h"
+#include "switch.h"
+
+/**
+ * \brief Plugin for reading limit switches.
+ *
+ * This plugin publishes whether or not the limit switch has been
+ * triggered every physics update. There are two types of limit switches:
+ *
+ * - Internal: Measure joint limits. Triggerd if the joint is within
+ * some range.
+ * - External: Measure interactions with the outside world. Triggerd
+ * if some link is in collision.
+ *
+ * To add a limit swithch to your robot, add the following XML to your
+ * robot model.
+ *
+ * Internal:
+ *
+ * <plugin name="my_limit_switch" filename="liblimit_switch.so">
+ * <topic>~/my/topic</topic>
+ * <type>internal</type>
+ * <joint>Joint Name</joint>
+ * <units>{degrees, radians}</units>
+ * <min>Number</min>
+ * <max>Number</max>
+ * </plugin>
+ *
+ * External:
+ *
+ * <plugin name="my_limit_switch" filename="liblimit_switch.so">
+ * <topic>~/my/topic</topic>
+ * <type>external</type>
+ * <sensor>Sensor Name</sensor>
+ * </plugin>
+ *
+ * Common:
+ * - `topic`: Optional. Message will be published as a gazebo.msgs.Bool.
+ * Recommended values are of the form:
+ * /gazebo/frc/simulator/dio/n
+ * - `type`: Required. The type of limit switch that this is
+ * - `invert`: Optional. If given, the output meaning will be inverted
+ *
+ * Internal
+ * - `joint`: Name of the joint this potentiometer is attached to.
+ * - `units`: Optional. Defaults to radians.
+ * - `min`: Minimum angle considered triggered.
+ * - `max`: Maximum angle considered triggered.
+ *
+ * External
+ * - `sensor`: Name of the contact sensor that this limit switch uses.
+ */
+class LimitSwitch : public gazebo::ModelPlugin {
+ public:
+ /// \brief Load the limit switch and configures it according to the sdf.
+ void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
+
+ /// \brief Sends out the limit switch reading each timestep.
+ void Update(const gazebo::common::UpdateInfo& info);
+
+ private:
+ /// \brief Publish the limit switch value on this topic.
+ std::string topic;
+
+ /// \brief LimitSwitch object, currently internal or external.
+ Switch* ls;
+
+ /// \brief Indicate if we should invert the output
+ bool invert;
+
+ /// \brief The model to which this is attached.
+ gazebo::physics::ModelPtr model;
+
+ /// \brief Pointer to the world update function.
+ gazebo::event::ConnectionPtr updateConn;
+
+ /// \brief The node on which we're advertising.
+ gazebo::transport::NodePtr node;
+
+ /// \brief Publisher handle.
+ gazebo::transport::PublisherPtr pub;
+};
diff --git a/simulation/frc_gazebo_plugins/src/limit_switch/headers/switch.h b/simulation/frc_gazebo_plugins/src/limit_switch/headers/switch.h
new file mode 100644
index 0000000..0387647
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/limit_switch/headers/switch.h
@@ -0,0 +1,16 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+class Switch {
+ public:
+ virtual ~Switch() = default;
+
+ /// \brief Returns true when the switch is triggered.
+ virtual bool Get() = 0;
+};
diff --git a/simulation/frc_gazebo_plugins/src/pneumatic_piston/cpp/pneumatic_piston.cpp b/simulation/frc_gazebo_plugins/src/pneumatic_piston/cpp/pneumatic_piston.cpp
new file mode 100644
index 0000000..f0e4c7e
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/pneumatic_piston/cpp/pneumatic_piston.cpp
@@ -0,0 +1,95 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "pneumatic_piston.h"
+
+#include <boost/algorithm/string/replace.hpp>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/transport/transport.hh>
+
+#ifdef _WIN32
+// Ensure that Winsock2.h is included before Windows.h, which can get
+// pulled in by anybody (e.g., Boost).
+#include <Winsock2.h>
+#endif
+
+GZ_REGISTER_MODEL_PLUGIN(PneumaticPiston)
+
+void PneumaticPiston::Load(gazebo::physics::ModelPtr model,
+ sdf::ElementPtr sdf) {
+ this->model = model;
+ forward_signal = reverse_signal = false;
+
+ // Parse SDF properties
+ joint = model->GetJoint(sdf->Get<std::string>("joint"));
+ if (sdf->HasElement("topic")) {
+ topic = sdf->Get<std::string>("topic");
+ } else {
+ topic = "~/" + sdf->GetAttribute("name")->GetAsString();
+ }
+
+ if (sdf->HasElement("reverse-topic")) {
+ reverse_topic = sdf->Get<std::string>("reverse-topic");
+ } else {
+ reverse_topic.clear();
+ }
+
+ forward_force = sdf->Get<double>("forward-force");
+ if (sdf->HasElement("reverse-force"))
+ reverse_force = -1.0 * sdf->Get<double>("reverse-force");
+
+ if (sdf->HasElement("direction") &&
+ sdf->Get<std::string>("direction") == "reversed") {
+ forward_force = -forward_force;
+ reverse_force = -reverse_force;
+ }
+
+ gzmsg << "Initializing piston: " << topic << " joint=" << joint->GetName()
+ << " forward_force=" << forward_force
+ << " reverse_force=" << reverse_force << std::endl;
+ if (!reverse_topic.empty())
+ gzmsg << "Reversing on topic " << reverse_topic << std::endl;
+
+ // Connect to Gazebo transport for messaging
+ std::string scoped_name =
+ model->GetWorld()->Name() + "::" + model->GetScopedName();
+ boost::replace_all(scoped_name, "::", "/");
+ node = gazebo::transport::NodePtr(new gazebo::transport::Node());
+ node->Init(scoped_name);
+ sub = node->Subscribe(topic, &PneumaticPiston::ForwardCallback, this);
+ if (!reverse_topic.empty())
+ sub_reverse =
+ node->Subscribe(reverse_topic, &PneumaticPiston::ReverseCallback, this);
+
+ // Connect to the world update event.
+ // This will trigger the Update function every Gazebo iteration
+ updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
+ boost::bind(&PneumaticPiston::Update, this, _1));
+}
+
+void PneumaticPiston::Update(const gazebo::common::UpdateInfo& info) {
+ double force = 0.0;
+ if (forward_signal) {
+ force = forward_force;
+ } else {
+ /* For DoubleSolenoids, the second signal must be present
+ for us to apply the reverse force. For SingleSolenoids,
+ the lack of the forward signal suffices.
+ Note that a true simulation would not allow a SingleSolenoid to
+ have reverse force, but we put that in the hands of the model builder.*/
+ if (reverse_topic.empty() || reverse_signal) force = reverse_force;
+ }
+ joint->SetForce(0, force);
+}
+
+void PneumaticPiston::ForwardCallback(const gazebo::msgs::ConstBoolPtr& msg) {
+ forward_signal = msg->data();
+}
+
+void PneumaticPiston::ReverseCallback(const gazebo::msgs::ConstBoolPtr& msg) {
+ reverse_signal = msg->data();
+}
diff --git a/simulation/frc_gazebo_plugins/src/pneumatic_piston/headers/pneumatic_piston.h b/simulation/frc_gazebo_plugins/src/pneumatic_piston/headers/pneumatic_piston.h
new file mode 100644
index 0000000..ba8becf
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/pneumatic_piston/headers/pneumatic_piston.h
@@ -0,0 +1,102 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+
+#include <gazebo/gazebo.hh>
+
+#include "simulation/gz_msgs/msgs.h"
+
+/**
+ * \brief Plugin for controlling a joint with a pneumatic piston.
+ *
+ * This plugin subscribes to topics to get the solenoid state for a piston
+ * It needs one signal for the forward signal. For a double solenoid,
+ * a second signal can be sent.
+ * Each signal is a boolean.
+ *
+ * Every physics update the joint's torque is set to reflect the
+ * signal, using the configured force
+ *
+ * To add a pneumatic piston to your robot, add the following XML to
+ * your robot model:
+ *
+ * <plugin name="my_piston" filename="libpneumatic_piston.so">
+ * <joint>Joint Name</joint>
+ * <topic>/gazebo/frc/simulator/pneumatics/1/1</topic>
+ * <reverse-topic>/gazebo/frc/simulator/pneumatics/1/2</reverse-topic>
+ * <direction>{forward, reversed}</direction>
+ * <forward-force>Number</forward-force>
+ * <reverse-force>Number</reverse-force>
+ * </plugin>
+ *
+ * - `joint`: Name of the joint this piston is attached to.
+ * - `topic`: Optional. Forward Solenoid signal name. type gazebo.msgs.Bool.
+ * If not given, the name given for the plugin will be used.
+ * A pattern of /gazebo/frc/simulator/pneumatics/1/n is good.
+ * The first number represents the PCM module. Only 1 is supported.
+ * The second number represents the channel on the PCM.
+ * - `topic-reverse`: Optional. If given, represents the reverse channel.
+ * Message type should be gazebo.msgs.Bool.
+ * - `direction`: Optional. Defaults to forward. Reversed if the piston
+ * pushes in the opposite direction of the joint axis.
+ * - `forward-force`: Force to apply in the forward direction.
+ * - `reverse-force`: Force to apply in the reverse direction.
+ * For a single solenoid, you would expect '0',
+ * but we allow model builders to provide a value.
+ *
+ */
+class PneumaticPiston : public gazebo::ModelPlugin {
+ public:
+ /// \brief Load the pneumatic piston and configures it according to the sdf.
+ void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
+
+ /// \brief Updat the force the piston applies on the joint.
+ void Update(const gazebo::common::UpdateInfo& info);
+
+ private:
+ /// \brief Topic to read forward control signal from.
+ std::string topic;
+
+ /// \brief Topic to read reverse control signal from.
+ std::string reverse_topic;
+
+ /// \brief Whether the solenoid to open forward is on
+ bool forward_signal;
+
+ /// \brief Whether the solenoid to open in reverse is on
+ bool reverse_signal;
+
+ /// \brief The magic force multipliers for each direction.
+ double forward_force, reverse_force;
+
+ /// \brief The joint that this pneumatic piston actuates.
+ gazebo::physics::JointPtr joint;
+
+ /// \brief Callback for receiving msgs and updating the solenoid state
+ void ForwardCallback(const gazebo::msgs::ConstBoolPtr& msg);
+
+ /// \brief Callback for receiving msgs and updating the reverse solenoid state
+ void ReverseCallback(const gazebo::msgs::ConstBoolPtr& msg);
+
+ /// \brief The model to which this is attached.
+ gazebo::physics::ModelPtr model;
+
+ /// \brief Pointer to the world update function.
+ gazebo::event::ConnectionPtr updateConn;
+
+ /// \brief The node on which we're advertising.
+ gazebo::transport::NodePtr node;
+
+ /// \brief Subscriber handle.
+ gazebo::transport::SubscriberPtr sub;
+
+ /// \brief Subscriber handle for reverse topic
+ gazebo::transport::SubscriberPtr sub_reverse;
+};
diff --git a/simulation/frc_gazebo_plugins/src/potentiometer/cpp/potentiometer.cpp b/simulation/frc_gazebo_plugins/src/potentiometer/cpp/potentiometer.cpp
new file mode 100644
index 0000000..140afd1
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/potentiometer/cpp/potentiometer.cpp
@@ -0,0 +1,69 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "potentiometer.h"
+
+#include <boost/algorithm/string/replace.hpp>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/transport/transport.hh>
+
+#ifdef _WIN32
+// Ensure that Winsock2.h is included before Windows.h, which can get
+// pulled in by anybody (e.g., Boost).
+#include <Winsock2.h>
+#endif
+
+GZ_REGISTER_MODEL_PLUGIN(Potentiometer)
+
+void Potentiometer::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
+ this->model = model;
+
+ // Parse SDF properties
+ joint = model->GetJoint(sdf->Get<std::string>("joint"));
+ if (sdf->HasElement("topic")) {
+ topic = sdf->Get<std::string>("topic");
+ } else {
+ topic = "~/" + sdf->GetAttribute("name")->GetAsString();
+ }
+
+ if (sdf->HasElement("units")) {
+ radians = sdf->Get<std::string>("units") != "degrees";
+ } else {
+ radians = true;
+ }
+
+ multiplier = 1.0;
+ if (sdf->HasElement("multiplier"))
+ multiplier = sdf->Get<double>("multiplier");
+
+ gzmsg << "Initializing potentiometer: " << topic
+ << " joint=" << joint->GetName() << " radians=" << radians
+ << " multiplier=" << multiplier << std::endl;
+
+ // Connect to Gazebo transport for messaging
+ std::string scoped_name =
+ model->GetWorld()->Name() + "::" + model->GetScopedName();
+ boost::replace_all(scoped_name, "::", "/");
+ node = gazebo::transport::NodePtr(new gazebo::transport::Node());
+ node->Init(scoped_name);
+ pub = node->Advertise<gazebo::msgs::Float64>(topic);
+
+ // Connect to the world update event.
+ // This will trigger the Update function every Gazebo iteration
+ updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
+ boost::bind(&Potentiometer::Update, this, _1));
+}
+
+void Potentiometer::Update(const gazebo::common::UpdateInfo& info) {
+ gazebo::msgs::Float64 msg;
+ if (radians) {
+ msg.set_data(joint->Position(0) * multiplier);
+ } else {
+ msg.set_data(joint->Position(0) * (180.0 / M_PI) * multiplier);
+ }
+ pub->Publish(msg);
+}
diff --git a/simulation/frc_gazebo_plugins/src/potentiometer/headers/potentiometer.h b/simulation/frc_gazebo_plugins/src/potentiometer/headers/potentiometer.h
new file mode 100644
index 0000000..f9111cb
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/potentiometer/headers/potentiometer.h
@@ -0,0 +1,73 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+
+#include <gazebo/gazebo.hh>
+
+#include "simulation/gz_msgs/msgs.h"
+
+/**
+ * \brief Plugin for reading the angle of a joint.
+ *
+ * This plugin publishes the angle of a joint to the topic every
+ * physics update. Supports reading in either radians or degrees.
+ *
+ * To add a potentiometer to your robot, add the following XML to your
+ * robot model:
+ *
+ * <plugin name="my_pot" filename="libpotentiometer.so">
+ * <joint>Joint Name</joint>
+ * <topic>~/my/topic</topic>
+ * <units>{degrees, radians}</units>
+ * </plugin>
+ *
+ * - `joint`: Name of the joint this potentiometer is attached to.
+ * - `topic`: Optional. Message will be published as a gazebo.msgs.Float64.
+ * The default topic name will be the plugin name.
+ * Recommended topic names are of the form:
+ * /gazebo/frc/simulator/analog/n
+ * where n is the analog channel for the pot.
+ * - `multiplier`: Optional. Amount to multiply output with.
+ * Useful when a rotary pot returns something other than an angle
+ * - `units`: Optional. Defaults to radians.
+ */
+class Potentiometer : public gazebo::ModelPlugin {
+ public:
+ /// \brief Load the potentiometer and configures it according to the sdf.
+ void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
+
+ /// \brief Sends out the potentiometer reading each timestep.
+ void Update(const gazebo::common::UpdateInfo& info);
+
+ private:
+ /// \brief Publish the angle on this topic.
+ std::string topic;
+
+ /// \brief Whether or not this potentiometer measures radians or degrees.
+ bool radians;
+
+ /// \brief A scaling factor to apply to this potentiometer.
+ double multiplier;
+
+ /// \brief The joint that this potentiometer measures
+ gazebo::physics::JointPtr joint;
+
+ /// \brief The model to which this is attached.
+ gazebo::physics::ModelPtr model;
+
+ /// \brief Pointer to the world update function.
+ gazebo::event::ConnectionPtr updateConn;
+
+ /// \brief The node on which we're advertising.
+ gazebo::transport::NodePtr node;
+
+ /// \brief Publisher handle.
+ gazebo::transport::PublisherPtr pub;
+};
diff --git a/simulation/frc_gazebo_plugins/src/rangefinder/cpp/rangefinder.cpp b/simulation/frc_gazebo_plugins/src/rangefinder/cpp/rangefinder.cpp
new file mode 100644
index 0000000..a01f10f
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/rangefinder/cpp/rangefinder.cpp
@@ -0,0 +1,56 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "rangefinder.h"
+
+#include <boost/algorithm/string/replace.hpp>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/sensors/sensors.hh>
+#include <gazebo/transport/transport.hh>
+
+#ifdef _WIN32
+// Ensure that Winsock2.h is included before Windows.h, which can get
+// pulled in by anybody (e.g., Boost).
+#include <Winsock2.h>
+#endif
+
+GZ_REGISTER_MODEL_PLUGIN(Rangefinder)
+
+void Rangefinder::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
+ this->model = model;
+
+ // Parse SDF properties
+ sensor = std::dynamic_pointer_cast<gazebo::sensors::SonarSensor>(
+ gazebo::sensors::get_sensor(sdf->Get<std::string>("sensor")));
+ if (sdf->HasElement("topic")) {
+ topic = sdf->Get<std::string>("topic");
+ } else {
+ topic = "~/" + sdf->GetAttribute("name")->GetAsString();
+ }
+
+ gzmsg << "Initializing rangefinder: " << topic << " sensor=" << sensor->Name()
+ << std::endl;
+
+ // Connect to Gazebo transport for messaging
+ std::string scoped_name =
+ model->GetWorld()->Name() + "::" + model->GetScopedName();
+ boost::replace_all(scoped_name, "::", "/");
+ node = gazebo::transport::NodePtr(new gazebo::transport::Node());
+ node->Init(scoped_name);
+ pub = node->Advertise<gazebo::msgs::Float64>(topic);
+
+ // Connect to the world update event.
+ // This will trigger the Update function every Gazebo iteration
+ updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
+ boost::bind(&Rangefinder::Update, this, _1));
+}
+
+void Rangefinder::Update(const gazebo::common::UpdateInfo& info) {
+ gazebo::msgs::Float64 msg;
+ msg.set_data(sensor->Range());
+ pub->Publish(msg);
+}
diff --git a/simulation/frc_gazebo_plugins/src/rangefinder/headers/rangefinder.h b/simulation/frc_gazebo_plugins/src/rangefinder/headers/rangefinder.h
new file mode 100644
index 0000000..6a395b6
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/rangefinder/headers/rangefinder.h
@@ -0,0 +1,59 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+
+#include <gazebo/gazebo.hh>
+
+#include "simulation/gz_msgs/msgs.h"
+
+/**
+ * \brief Plugin for reading the range of obstacles.
+ *
+ * This plugin publishes the range of obstacles detected by a sonar
+ * rangefinder every physics update.
+ *
+ * To add a rangefinder to your robot, add the following XML to your
+ * robot model:
+ *
+ * <plugin name="my_rangefinder" filename="librangefinder.so">
+ * <sensor>Sensor Name</sensor>
+ * <topic>~/my/topic</topic>
+ * </plugin>
+ *
+ * - `sensor`: Name of the sonar sensor that this rangefinder uses.
+ * - `topic`: Optional. Message will be published as a gazebo.msgs.Float64.
+ */
+class Rangefinder : public gazebo::ModelPlugin {
+ public:
+ /// \brief Load the rangefinder and configures it according to the sdf.
+ void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
+
+ /// \brief Sends out the rangefinder reading each timestep.
+ void Update(const gazebo::common::UpdateInfo& info);
+
+ private:
+ /// \brief Publish the range on this topic.
+ std::string topic;
+
+ /// \brief The sonar sensor that this rangefinder uses
+ gazebo::sensors::SonarSensorPtr sensor;
+
+ /// \brief The model to which this is attached.
+ gazebo::physics::ModelPtr model;
+
+ /// \brief Pointer to the world update function.
+ gazebo::event::ConnectionPtr updateConn;
+
+ /// \brief The node on which we're advertising.
+ gazebo::transport::NodePtr node;
+
+ /// \brief Publisher handle.
+ gazebo::transport::PublisherPtr pub;
+};
diff --git a/simulation/frc_gazebo_plugins/src/servo/cpp/servo.cpp b/simulation/frc_gazebo_plugins/src/servo/cpp/servo.cpp
new file mode 100644
index 0000000..ca9d361
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/servo/cpp/servo.cpp
@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "servo.h"
+
+#include <boost/algorithm/string/replace.hpp>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/transport/transport.hh>
+
+#ifdef _WIN32
+// Ensure that Winsock2.h is included before Windows.h, which can get
+// pulled in by anybody (e.g., Boost).
+#include <Winsock2.h>
+#endif
+
+GZ_REGISTER_MODEL_PLUGIN(Servo)
+
+void Servo::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
+ this->model = model;
+ signal = 0;
+
+ // parse SDF Properries
+ joint = model->GetJoint(sdf->Get<std::string>("joint"));
+ if (sdf->HasElement("topic")) {
+ topic = sdf->Get<std::string>("topic");
+ } else {
+ topic = "~/" + sdf->GetAttribute("name")->GetAsString();
+ }
+
+ if (sdf->HasElement("torque")) {
+ torque = sdf->Get<double>("torque");
+ } else {
+ torque = 5;
+ }
+
+ gzmsg << "initializing servo: " << topic << " joint=" << joint->GetName()
+ << " torque=" << torque << std::endl;
+
+ // Connect to Gazebo transport for messaging
+ std::string scoped_name =
+ model->GetWorld()->Name() + "::" + model->GetScopedName();
+ boost::replace_all(scoped_name, "::", "/");
+ node = gazebo::transport::NodePtr(new gazebo::transport::Node());
+ node->Init(scoped_name);
+ sub = node->Subscribe(topic, &Servo::Callback, this);
+
+ // connect to the world update event
+ // this will call update every iteration
+ updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
+ boost::bind(&Servo::Update, this, _1));
+}
+
+void Servo::Update(const gazebo::common::UpdateInfo& info) {
+ // torque is in kg*cm
+ // joint->SetAngle(0,signal*180);
+ if (joint->Position(0) < signal) {
+ joint->SetForce(0, torque);
+ } else if (joint->Position(0) > signal) {
+ joint->SetForce(0, torque);
+ }
+ joint->SetForce(0, 0);
+}
+
+void Servo::Callback(const gazebo::msgs::ConstFloat64Ptr& msg) {
+ signal = msg->data();
+ if (signal < -1) {
+ signal = -1;
+ } else if (signal > 1) {
+ signal = 1;
+ }
+}
diff --git a/simulation/frc_gazebo_plugins/src/servo/headers/servo.h b/simulation/frc_gazebo_plugins/src/servo/headers/servo.h
new file mode 100644
index 0000000..6d8ab08
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/servo/headers/servo.h
@@ -0,0 +1,70 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+
+#include <gazebo/gazebo.hh>
+
+#include "simulation/gz_msgs/msgs.h"
+
+/**
+ * \brief Plugin for controlling a servo.
+ *
+ * This plugin subscribes to a topic to get a signal in the range
+ * [-1,1]. Every physics update the joint's torque is set as
+ * multiplier*signal.
+ *
+ * To add a servo to your robot, add the following XML to your robot
+ * model:
+ *
+ * <plugin name="my_servo" filename="libservo.so">
+ * <joint>Joint Name</joint>
+ * <topic>/gzebo/frc/simulator/pwm/1</topic>
+ * <zero_position>0</zero_position>
+ * </plugin>
+ *
+ * - `link`: Name of the link the servo is attached to.
+ * - `topic`: Optional. Message type should be gazebo.msgs.Float64.
+ */
+class Servo : public gazebo::ModelPlugin {
+ public:
+ /// \brief load the servo and configure it according to the sdf
+ void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
+
+ /// \brief Update the torque on the joint from the dc motor each timestep.
+ void Update(const gazebo::common::UpdateInfo& info);
+
+ private:
+ /// \brief Topic to read control signal from.
+ std::string topic;
+
+ /// \brief the pwm signal limited to the range [-1,1]
+ double signal;
+
+ /// \brief the torque of the motor in kg/cm
+ double torque;
+
+ /// \brief the joint that this servo moves
+ gazebo::physics::JointPtr joint;
+
+ /// \brief Callback for receiving msgs and storing the signal
+ void Callback(const gazebo::msgs::ConstFloat64Ptr& msg);
+
+ /// \brief The model to which this is attached
+ gazebo::physics::ModelPtr model;
+
+ /// \brief The pointer to the world update function
+ gazebo::event::ConnectionPtr updateConn;
+
+ /// \brief The node on which we're advertising torque
+ gazebo::transport::NodePtr node;
+
+ /// \brief The subscriber for the PWM signal
+ gazebo::transport::SubscriberPtr sub;
+};