ContactSensor.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,
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13  * See the License for the specific language governing permissions and
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16 */
17 #ifndef _GAZEBO_SENSORS_CONTACTSENSOR_HH_
18 #define _GAZEBO_SENSORS_CONTACTSENSOR_HH_
19 
20 #include <map>
21 #include <string>
22 #include <memory>
23 
24 #include "gazebo/msgs/msgs.hh"
25 
26 #include "gazebo/sensors/Sensor.hh"
28 #include "gazebo/util/system.hh"
29 
30 namespace gazebo
31 {
34  namespace sensors
35  {
36  // Forward declare private data class
37  class ContactSensorPrivate;
38 
41 
46  {
48  public: ContactSensor();
49 
51  public: virtual ~ContactSensor();
52 
56  public: virtual void Load(const std::string &_worldName,
57  sdf::ElementPtr _sdf);
58 
61  public: virtual void Load(const std::string &_worldName);
62 
64  public: virtual void Init();
65 
66  // Documentation inherited
67  protected: virtual bool UpdateImpl(const bool _force);
68 
70  protected: virtual void Fini();
71 
74  public: unsigned int GetCollisionCount() const;
75 
79  public: std::string GetCollisionName(unsigned int _index) const;
80 
84  public: unsigned int GetCollisionContactCount(
85  const std::string &_collisionName) const;
86 
125  public: msgs::Contacts Contacts() const;
126 
130  public: std::map<std::string, physics::Contact> Contacts(
131  const std::string &_collisionName) const;
132 
133  // Documentation inherited.
134  public: virtual bool IsActive() const;
135 
137  private: void OnContacts(ConstContactsPtr &_msg);
138 
141  private: std::unique_ptr<ContactSensorPrivate> dataPtr;
142  };
144  }
145 }
146 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
Contact sensor.
Definition: ContactSensor.hh:45
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Base class for sensors.
Definition: Sensor.hh:51
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:58