Ignition Gazebo

API Reference

3.7.0
Breadcrumbs.hh
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1 /*
2  * Copyright (C) 2019 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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17 #ifndef IGNITION_GAZEBO_SYSTEMS_BREADCRUMBS_HH_
18 #define IGNITION_GAZEBO_SYSTEMS_BREADCRUMBS_HH_
19 
20 #include <memory>
21 #include <set>
22 #include <unordered_map>
23 #include <vector>
24 
25 #include <sdf/Element.hh>
26 #include <sdf/Geometry.hh>
27 #include <sdf/Root.hh>
28 
30 #include <ignition/math/Pose3.hh>
31 
32 #include "ignition/gazebo/Model.hh"
35 
36 namespace ignition
37 {
38 namespace gazebo
39 {
40 // Inline bracket to help doxygen filtering.
41 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
42 namespace systems
43 {
83  : public System,
84  public ISystemConfigure,
85  public ISystemPreUpdate
86  {
88  public: Breadcrumbs() = default;
89 
90  // Documentation inherited
91  public: void Configure(const Entity &_entity,
94  EventManager &_eventMgr) override;
95 
96  // Documentation inherited
97  public: void PreUpdate(
98  const ignition::gazebo::UpdateInfo &_info,
100 
102  private: void OnDeploy(const msgs::Empty &_msg);
103 
108  public: bool MakeStatic(Entity _entity, EntityComponentManager &_ecm);
109 
111  private: bool initialized{false};
112 
114  private: transport::Node node;
115 
117  private: Model model{kNullEntity};
118 
120  private: Entity worldEntity{kNullEntity};
121 
123  public: std::unique_ptr<SdfEntityCreator> creator{nullptr};
124 
126  private: int maxDeployments{-1};
127 
129  private: int numDeployments{0};
130 
132  private: sdf::Root modelRoot;
133 
135  private: bool isPerformer{false};
136 
139  private: bool allowRenaming{false};
140 
142  private: std::optional<sdf::Geometry> performerGeometry;
143 
145  private: std::vector<bool> pendingCmds;
146 
148  private: std::set<Entity> pendingGeometryUpdate;
149 
151  private: std::mutex pendingCmdsMutex;
152 
154  private: std::chrono::steady_clock::duration disablePhysicsTime =
155  std::chrono::steady_clock::duration::zero();
156 
159  autoStaticEntities;
160 
162  private: sdf::Model staticModelToSpawn;
163 
166  };
167  }
168 }
169 }
170 }
171 
172 #endif
173 
This class provides wrappers around entities and components which are more convenient and straight-fo...
Definition: Model.hh:60
A system for creating Breadcrumbs in the form of models that can get deployed/spawned at the location...
Definition: Breadcrumbs.hh:82
Information passed to systems on the update callback.
Definition: Types.hh:37
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
transport::Node::Publisher remainingPub
Publishes remaining deployments.
Definition: Breadcrumbs.hh:165
Interface for a system that implements optional configuration.
Definition: System.hh:88
Component< NoData, class ModelTag > Model
A component that identifies an entity as being a model.
Definition: components/Model.hh:35
const Entity kNullEntity
Indicates a non-existant or invalid Entity.
Definition: Entity.hh:62
STL class.
Entity worldEntity(const Entity &_entity, const EntityComponentManager &_ecm)
Get the world to which the given entity belongs.
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
Interface for a system that uses the PreUpdate phase.
Definition: System.hh:105
Base class for a System.
Definition: System.hh:73