Ignition Gazebo

API Reference

3.5.0
PerformerDetector.hh
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2020 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 IGNITION_GAZEBO_SYSTEMS_PERFORMERDETECTOR_HH_
19 #define IGNITION_GAZEBO_SYSTEMS_PERFORMERDETECTOR_HH_
20 
21 #include <map>
22 #include <memory>
23 #include <string>
24 #include <unordered_set>
25 
27 
28 #include "ignition/gazebo/Model.hh"
30 
31 namespace ignition
32 {
33 namespace gazebo
34 {
35 // Inline bracket to help doxygen filtering.
36 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
37 namespace systems
38 {
79 
80  class IGNITION_GAZEBO_VISIBLE PerformerDetector
81  : public System,
82  public ISystemConfigure,
83  public ISystemPostUpdate
84  {
86  public: PerformerDetector() = default;
87 
89  public: void Configure(const Entity &_entity,
92  EventManager &_eventMgr) final;
93 
95  public: void PostUpdate(
96  const ignition::gazebo::UpdateInfo &_info,
98 
102  private: bool IsAlreadyDetected(const Entity &_entity) const;
103 
106  private: void AddToDetected(const Entity &_entity);
107 
110  private: void RemoveFromDetected(const Entity &_entity);
111 
119  private: void Publish(const Entity &_entity, const std::string &_name,
120  bool _state, const math::Pose3d &_pose,
121  const std::chrono::steady_clock::duration &_stamp);
122 
124  private: std::unordered_set<Entity> detectedEntities;
125 
127  private: Model model;
128 
130  private: std::string detectorName;
131 
133  private: math::AxisAlignedBox detectorGeometry;
134 
136  private: transport::Node::Publisher pub;
137 
139  private: bool initialized{false};
140 
142  private: math::Pose3d poseOffset;
143 
145  private: std::map<std::string, std::string> extraHeaderData;
146  };
147 
148  }
149 }
150 }
151 }
152 
153 #endif
Interface for a system that uses the PostUpdate phase.
Definition: System.hh:119
This class provides wrappers around entities and components which are more convenient and straight-fo...
Definition: Model.hh:60
Information passed to systems on the update callback.
Definition: Types.hh:37
STL class.
The EntityComponentManager constructs, deletes, and returns components and entities. A component can be of any class which inherits from components::BaseComponent.
Definition: EntityComponentManager.hh:64
The EventManager is used to send/receive notifications of simulator events.
Definition: EventManager.hh:50
Interface for a system that implements optional configuration.
Definition: System.hh:88
This library is part of the Ignition Robotics project.
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light. At its core, an Entity is just an identifier.
Definition: Entity.hh:59
Base class for a System.
Definition: System.hh:73
A system system that publishes on a topic when a performer enters or leaves a specified region...
Definition: PerformerDetector.hh:80