uuv.vscode.code-snippets

{
	"py_class_md_docstring": {
		"prefix": "uuv.py.doc.class",
		"scope": "python",
		"description": "Python Class Docstring (Markdown)",
		"body": [
			"\"\"\"Class description",
			"",
			"> *Attributes*",
			"",
			"* `param` (*type:* `data_type`, *value:* `data`): Parameter description",
			"",
			"> *Input arguments*",
			"",
			"* `param` (*type:* `data_type`, *default:* `data`): Parameter description",
			"",
			"\"\"\""
		]
	},

	"py_func_md_docstring": {
		"prefix": "uuv.py.doc.func",
		"scope": "python",
		"description": "Python Function Docstring (Markdown)",
		"body": [
			"\"\"\"Function description",
			"",
			"> *Input arguments*",
			"",
			"* `param` (*type:* `data_type`, *default:* `data`): Parameter description",
			"",
			"> *Returns*",
			"",
			"Description of return values",
			"\"\"\""
		]
	},

	"py_module_md_docstring": {
		"prefix": "uuv.py.doc.module",
		"scope": "python",
		"description": "Python Module Docstring (Markdown)",
		"body": [
			"\"\"\"Module description",
			"\"\"\""
		]
	},

	"py_param_md_docstring_snippet": {
		"prefix": "uuv.py.doc.param",
		"scope": "python",
		"description": "Python Parameter Docstring Snippet (Markdown)",
		"body": [
			"* `param` (*type:* `data_type`, *default:* `data`): Parameter description"
		]
	},

	"py_ros_publisher_md_docstring_snippet": {
		"prefix": "uuv.py.doc.publisher",
		"scope": "python",
		"description": "Python ROS Publisher Docstring Snippet (Markdown)",
		"body": [
			"* `topic_name` (*message:* `data_type`): Topic description"
		]
	},

	"py_property_md_docstring": {
		"prefix": "uuv.py.doc.property",
		"scope": "python",
		"description": "Python Property Docstring (Markdown)",
		"body": [
			"\"\"\"`data_type`: Property description\"\"\""
		]
	},

	"py_script_md_docstring": {
		"prefix": "uuv.py.doc.script",
		"scope": "python",
		"description": "Python Script Docstring (Markdown)",
		"body": [
			"\"\"\"**Description**",
			"",
			"Script description, with some formulas",
			"",
			"$$",
			"\t\\dot{v_c}(t) + \\mu_c v_c(t) = w_c",
			"$$",
			"",
			"**Input ROS parameters**",
			"",
			"* `param` (*type:* `data_type`, *default:* `value`): Parameter description",
			"",
			"**Input parameters**",
			"",
			"* `param` (*type:* `data_type`, *default:* `value`): Parameter description",
			"",
			"**Usage**",
			"",
			"Examples of usage",
			"",
			"```bash",
			"rosrun pkg_name node_name --param value",
			"```",
			"",
			"**Launch file snippet**",
			"",
			"```xml",
			"<node name=\"name\" pkg=\"pkg_name\" type=\"name\" output=\"screen\">",
			"\t<rosparam subst_value=\"true\">",
			"\t\tparam: value",
			"\t</rosparam>",
			"</node>",
			"```",
			"**ROS services**",
			"",
			"> **`service_name`**",
			"",
			"*Service description file*",
			"",
			"[`service.file`](link_to_service_file)",
			"",
			"*Service call*",
			"",
			"```bash",
			"rosservice call service_name",
			"```",
			"",
			"Description of input parameters and return values",
			"",
			"\"\"\""
		]
	},

	"py_uuv_ros_test": {
		"scope": "python",
		"prefix": "uuv.py.ros.test",
		"description": "ROS Unit Test Script (Python)",
		"body": [
			"#!/usr/bin/env python",
			"# Copyright (c) 2016-$CURRENT_YEAR The UUV Simulator Authors.",
			"# All rights reserved.",
			"#",
			"# Licensed under the Apache License, Version 2.0 (the \"License\");",
			"# you may not use this file except in compliance with the License.",
			"# You may obtain a copy of the License at",
			"#",
			"#     http://www.apache.org/licenses/LICENSE-2.0",
			"#",
			"# Unless required by applicable law or agreed to in writing, software",
			"# distributed under the License is distributed on an \"AS IS\" BASIS,",
			"# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.",
			"# See the License for the specific language governing permissions and",
			"# limitations under the License.",
			"import roslib",
			"import unittest",
			"# Other imports",
			"",
			"PKG = 'package_name'",
			"roslib.load_manifest(PKG)",
			"",
			"class TestModule(unittest.TestCase):",
			"\tpass",
			"",
			"if __name__ == '__main__':",
			"\timport rosunit",
			"\trosunit.unitrun(PKG, 'test_module', TestModule)"
		]
	},

	"py_uuv_license_header": {
		"scope": "python",
		"prefix": "uuv.py.license",
		"description": "UUV Simulator License Header (Python)",
		"body": [
			"# Copyright (c) 2016-$CURRENT_YEAR The UUV Simulator Authors.",
			"# All rights reserved.",
			"#",
			"# Licensed under the Apache License, Version 2.0 (the \"License\");",
			"# you may not use this file except in compliance with the License.",
			"# You may obtain a copy of the License at",
			"#",
			"#     http://www.apache.org/licenses/LICENSE-2.0",
			"#",
			"# Unless required by applicable law or agreed to in writing, software",
			"# distributed under the License is distributed on an \"AS IS\" BASIS,",
			"# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.",
			"# See the License for the specific language governing permissions and",
			"# limitations under the License."
		]
	},

	"xml_uuv_license_header": {
		"scope": "xml",
		"prefix": "uuv.xml.license",
		"description": "UUV Simulator License Header (XML)",
		"body": [
			"<!-- Copyright (c) 2016-$CURRENT_YEAR The UUV Simulator Authors.",
			"\tAll rights reserved.",
			"",
			"\tLicensed under the Apache License, Version 2.0 (the \"License\");",
			"\tyou may not use this file except in compliance with the License.",
			"\tYou may obtain a copy of the License at",
			"",
			"\thttp://www.apache.org/licenses/LICENSE-2.0",
			"",
			"\tUnless required by applicable law or agreed to in writing, software",
			"\tdistributed under the License is distributed on an \"AS IS\" BASIS,",
			"\tWITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.",
			"\tSee the License for the specific language governing permissions and",
			"\tlimitations under the License.",
			"-->"
		]
	},

	"xml_uuv_xacro_file": {
		"scope": "xml",
		"prefix": "uuv.xml.xacro.file",
		"description": "Xacro file (XML)",
		"body": [
			"<?xml version=\"1.0\"?>",
			"<robot xmlns:xacro=\"http://www.ros.org/wiki/xacro\">",
			"",
			"</robot>"
		]
	},

	"xml_uuv_xacro_include": {
		"scope": "xml",
		"prefix": "uuv.xml.xacro.include",
		"description": "Xacro include (XML)",
		"body": [
			"<xacro:include filename=\"$(find pkg_name)/path/file.urdf.xacro\"/>"
		]
	},

	"xml_uuv_xacro_property": {
		"scope": "xml",
		"prefix": "uuv.xml.xacro.property",
		"description": "Xacro property (XML)",
		"body": [
			"<xacro:property name=\"param_name\" value=\"param_value\"/>"
		]
	},

	"xml_uuv_xacro_macro": {
		"scope": "xml",
		"prefix": "uuv.xml.xacro.macro",
		"description": "Xacro macro (XML)",
		"body": [
			"<xacro:macro name=\"macro_name\" params=\"param_1 param_2\">",
			"",
			"</xacro:macro>"
		]
	},

	"xml_uuv_xacro_insert_block": {
		"scope": "xml",
		"prefix": "uuv.xml.xacro.insert_block",
		"description": "Xacro insert block (XML)",
		"body": [
			"<xacro:insert_block name=\"block_name\"/>"
		]
	},

	"xml_uuv_xacro_hydrodynamic_model_link": {
		"scope": "xml",
		"prefix": "uuv.xml.xacro.hydro.link",
		"description": "Base for the hydrodynamic model description for one link",
		"body": [
			"<link name=\"link_name\">",
			"\t<neutrally_buoyant>0</neutrally_buoyant>",
			"",
			"\t<volume>0</volume>",
			"",
			"\t<box>",
			"\t\t<width>0</width>",
			"\t\t<length>0</length>",
			"\t\t<height>0</height>",
			"\t</box>",
			"",
			"<center_of_buoyancy>0 0 0</center_of_buoyancy>",
			"",
			"<hydrodynamic_model>",
			"",
			"\t<!-- Add the desired hydrodynamic model description here -->",
			"",
			"</hydrodynamic_model>",
			"</link>"
		]
	},

	"xml_uuv_xacro_hydrodynamic_model_fossen": {
		"scope": "xml",
		"prefix": "uuv.xml.xacro.hydro.fossen",
		"description": "Inputs for Fossen's hydrodynamic model (XML)",
		"body": [
			"<hydrodynamic_model>",
			"\t<type>fossen</type>",
			"",
			"\t<added_mass>",
			"\t\t0 0 0 0 0 0",
			"\t\t0 0 0 0 0 0",
			"\t\t0 0 0 0 0 0",
			"\t\t0 0 0 0 0 0",
			"\t\t0 0 0 0 0 0",
			"\t\t0 0 0 0 0 0",
			"\t</added_mass>",
			"",
			"\t<linear_damping>",
			"\t\t0 0 0 0 0 0",
			"\t</linear_damping>",
			"",
			"\t<linear_damping_forward_speed>",
			"\t\t0 0 0 0 0 0",
			"\t</linear_damping_forward_speed>",
			"",
			"\t<quadratic_damping>",
			"\t\t0 0 0 0 0 0",
			"\t</quadratic_damping>",
			"</hydrodynamic_model>"
		]
	},

	"xml_uuv_xacro_hydrodynamic_model_sphere": {
		"scope": "xml",
		"prefix": "uuv.xml.xacro.hydro.sphere",
		"description": "Inputs for an approximated Fossen's hydrodynamic model for a sphere (XML)",
		"body": [
			"<hydrodynamic_model>",
          	"\t<type>sphere</type>",
          	"\t<radius>0</radius>",
        	"</hydrodynamic_model>"
		]
	},

	"xml_uuv_xacro_underwater_object_plugin_sphere": {
		"scope": "xml",
		"prefix": "uuv.xml.xacro.hydro.sphere.underwater_object_plugin",
		"description": "Snippet for the uuv_underwater_object plugin using Fossen's model for a sphere (XML)",
		"body": [
			"<gazebo>",
      		"\t<plugin name=\"uuv_plugin\" filename=\"libuuv_underwater_object_ros_plugin.so\">",
        	"\t\t<fluid_density>1025.0</fluid_density>",
        	"\t\t<flow_velocity_topic>hydrodynamics/current_velocity</flow_velocity_topic>",
			"\t\t<debug>0</debug>",
			"",
			"\t\t<link name=\"link_name\">",
			"\t\t\t<neutrally_buoyant>0</neutrally_buoyant>",
			"",
			"\t\t\t<volume>0</volume>",
			"",
			"\t\t\t<box>",
			"\t\t\t\t<width>0</width>",
			"\t\t\t\t<length>0</length>",
			"\t\t\t\t<height>0</height>",
			"\t\t\t</box>",
			"",
			"\t\t<center_of_buoyancy>0 0 0</center_of_buoyancy>",
			"",
			"\t\t<hydrodynamic_model>",
			"\t\t\t<type>sphere</type>",
          	"\t\t\t<radius>0</radius>",
			"\t\t</hydrodynamic_model>",
			"</link>",
			"\t</plugin>",
    		"</gazebo>"
		]
	},

	"xml_uuv_xacro_default_joint_state_publisher": {
		"scope": "xml",
		"prefix": "uuv.xml.xacro.joint_state_publisher",
		"description": "Xacro snippet for the joint state publisher (XML)",
		"body": [
			"<xacro:macro name=\"default_joint_state_publisher\" params=\"namespace update_rate\">",
    		"\t<gazebo>",
      		"\t\t<plugin name=\"uuv_joint_state_publisher\" filename=\"libuuv_joint_state_publisher.so\">",
        	"\t\t\t<robotNamespace>${namespace}</robotNamespace>",
        	"\t\t\t<updateRate>${update_rate}</updateRate>",
			"\t\t</plugin>",
    		"\t</gazebo>",
  			"</xacro:macro>"
		]
	},

	"xml_uuv_xacro_underwater_object_plugin_fossen": {
		"scope": "xml",
		"prefix": "uuv.xml.xacro.hydro.fossen.underwater_object_plugin",
		"description": "Snippet for the uuv_underwater_object plugin using Fossen's model (XML)",
		"body": [
			"<gazebo>",
      		"\t<plugin name=\"uuv_plugin\" filename=\"libuuv_underwater_object_ros_plugin.so\">",
        	"\t\t<fluid_density>1025.0</fluid_density>",
        	"\t\t<flow_velocity_topic>hydrodynamics/current_velocity</flow_velocity_topic>",
			"\t\t<debug>0</debug>",
			"",
			"\t\t<link name=\"link_name\">",
			"\t\t\t<neutrally_buoyant>0</neutrally_buoyant>",
			"",
			"\t\t\t<volume>0</volume>",
			"",
			"\t\t\t<box>",
			"\t\t\t\t<width>0</width>",
			"\t\t\t\t<length>0</length>",
			"\t\t\t\t<height>0</height>",
			"\t\t\t</box>",
			"",
			"\t\t<center_of_buoyancy>0 0 0</center_of_buoyancy>",
			"",
			"\t\t<hydrodynamic_model>",
			"\t\t\t<type>fossen</type>",
			"",
			"\t\t\t<added_mass>",
			"\t\t\t\t0 0 0 0 0 0",
			"\t\t\t\t0 0 0 0 0 0",
			"\t\t\t\t0 0 0 0 0 0",
			"\t\t\t\t0 0 0 0 0 0",
			"\t\t\t\t0 0 0 0 0 0",
			"\t\t\t\t0 0 0 0 0 0",
			"\t\t\t</added_mass>",
			"",
			"\t\t\t<linear_damping>",
			"\t\t\t\t0 0 0 0 0 0",
			"\t\t\t</linear_damping>",
			"",
			"\t\t\t<linear_damping_forward_speed>",
			"\t\t\t\t0 0 0 0 0 0",
			"\t\t\t</linear_damping_forward_speed>",
			"",
			"\t\t\t<quadratic_damping>",
			"\t\t\t\t0 0 0 0 0 0",
			"\t\t\t</quadratic_damping>",
			"\t\t</hydrodynamic_model>",
			"</link>",
			"\t</plugin>",
    		"</gazebo>"
		]
	},
	
	"cpp_uuv_license_header": {
		"scope": "cpp",
		"prefix": "uuv.cpp.license",
		"description": "UUV Simulator License Header (C++)",
		"body": [
			"// Copyright (c) 2016-$CURRENT_YEAR The UUV Simulator Authors.",
			"// All rights reserved.",
			"//",
			"// Licensed under the Apache License, Version 2.0 (the \"License\");",
			"// you may not use this file except in compliance with the License.",
			"// You may obtain a copy of the License at",
			"//",
			"//     http://www.apache.org/licenses/LICENSE-2.0",
			"//",
			"// Unless required by applicable law or agreed to in writing, software",
			"// distributed under the License is distributed on an \"AS IS\" BASIS,",
			"// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.",
			"// See the License for the specific language governing permissions and",
			"// limitations under the License."
		]	
	}
}