move_model.cc

#include <boost/bind.hpp>
#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/common/common.hh>
#include <stdio.h>
#include <time.h>
#include <stdlib.h>

namespace gazebo
{
    class MoveModel : public ModelPlugin
    {
    public:
    void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
        {
        srand(time(NULL));
        // Store the pointer to the model
        this->model = _parent;

        // Listen to the update event. This event is broadcast every
        // simulation iteration.
        this->updateConnection = event::Events::ConnectWorldUpdateBegin(
            boost::bind(&MoveModel::OnUpdate, this, _1));
        };

    // Called by the world update start event
    void OnUpdate(const common::UpdateInfo & /*_info*/)
        {
        if(iteration < 1000) {
            // Apply a small linear velocity to the model.
            if(!appliedRight) {
            std::cout<<"Right"<<std::endl;
            this->model->SetLinearVel(math::Vector3(
                              .03,
                              (rand() % 5) * 0.01,
                              (rand() % 5) * 0.01));
            appliedRight = true;
            appliedLeft = false;
            }
            ++iteration;
        } else {
            if(iteration > 2000) {
            iteration = 0;
            }
            if(!appliedLeft) {
            std::cout<<"Left"<<std::endl;
            this->model->SetLinearVel(math::Vector3(
                              -.03,
                              (rand() % 5) * -0.01,
                              (rand() % 5) * -0.01));
            appliedLeft = true;
            appliedRight = false;
            }
            ++iteration;
        }
        };

    private:
    // Pointer to the model
    physics::ModelPtr model;
    // Pointer to the update event connection
    event::ConnectionPtr updateConnection;

    bool appliedRight = false;
    bool appliedLeft = false;
    int iteration = 0;

    };

    // Register this plugin with the simulator
    GZ_REGISTER_MODEL_PLUGIN(MoveModel)
}