Ignition Gazebo

API Reference

3.5.0
Contact.hh
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1 /*
2  * Copyright (C) 2019 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 #ifndef IGNITION_GAZEBO_SYSTEMS_CONTACT_HH_
18 #define IGNITION_GAZEBO_SYSTEMS_CONTACT_HH_
19 
20 #include <memory>
21 #include <ignition/gazebo/Export.hh>
23 
24 namespace ignition
25 {
26 namespace gazebo
27 {
28 // Inline bracket to help doxygen filtering.
29 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
30 namespace systems
31 {
32  // Forward declaration
33  class ContactPrivate;
34 
38  class IGNITION_GAZEBO_VISIBLE Contact :
41  public System,
42  public ISystemPreUpdate,
43  public ISystemPostUpdate
44  {
46  public: Contact();
47 
49  public: ~Contact() final = default;
50 
52  public: void PreUpdate(const UpdateInfo &_info,
53  EntityComponentManager &_ecm) final;
54 
56  public: void PostUpdate(const UpdateInfo &_info,
57  const EntityComponentManager &_ecm) final;
58 
60  private: std::unique_ptr<ContactPrivate> dataPtr;
61  };
62 }
63 }
64 } // namespace gazebo
65 } // namespace ignition
66 #endif
STL namespace.
This library is part of the Ignition Robotics project.