17 #ifndef __GAZEBO_SPRING_TEST_PLUGIN_HH__
18 #define __GAZEBO_SPRING_TEST_PLUGIN_HH__
21 #pragma GCC diagnostic push
22 #pragma GCC system_header
24 #include "gazebo/common/Plugin.hh"
25 #include "gazebo/physics/physics.hh"
26 #include "gazebo/util/system.hh"
29 #pragma GCC diagnostic pop
37 virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
43 void ExplicitUpdate();
46 event::ConnectionPtr updateConnection_;
49 physics::ModelPtr model_;
52 common::Time prevUpdateTime_;
55 physics::JointPtr jointExplicit_;
58 std::string jointExplicitName_;