What part of the sdf file is sdf::ElementPtr in the load() function?
Suppose we have a Sdf file .world, like this one:
<?xml version="1.0" ?>
<sdf version="1.5">
<world name="default">
<model name="my_velodyne">
<include>
<uri>model://velodyne_hdl32</uri>
</include>
<!-- Attach the plugin to this model -->
<plugin name="velodyne_control" filename="libvelodyne_plugin.so">
<velocity>25</velocity>
</plugin>
</model>
</world>
</sdf>
When the load() function is called, for example:
#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>
namespace gazebo
{
class VelodynePlugin : public ModelPlugin
{
/// \brief Constructor
public: VelodynePlugin() {}
public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
{
}
};
// Tell Gazebo about this plugin, so that Gazebo can call Load on this plugin.
GZ_REGISTER_MODEL_PLUGIN(VelodynePlugin)
}
What part of the Sdf file is sdf::ElementPtr _sdf
?