ContactPlugin.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 
18 #ifndef GAZEBO_PLUGINS_CONTACTPLUGIN_HH_
19 #define GAZEBO_PLUGINS_CONTACTPLUGIN_HH_
20 
21 #include <string>
22 
23 #include <gazebo/common/Plugin.hh>
24 #include <gazebo/sensors/sensors.hh>
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
32  {
34  public: ContactPlugin();
35 
37  public: virtual ~ContactPlugin();
38 
42  public: virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
43 
47  private: virtual void OnUpdate();
48 
50  private: sensors::ContactSensorPtr parentSensor;
51 
54  private: event::ConnectionPtr updateConnection;
55  };
56 }
57 #endif
std::shared_ptr< Sensor > SensorPtr
Definition: SensorTypes.hh:64
Forward declarations for the common classes.
Definition: Animation.hh:33
std::shared_ptr< ContactSensor > ContactSensorPtr
Definition: SensorTypes.hh:92
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
A plugin for a contact sensor.
Definition: ContactPlugin.hh:31
A plugin with access to physics::Sensor.
Definition: Plugin.hh:289
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:58