Ignition Gazebo

API Reference

6.1.0
OdometryPublisher.hh
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2021 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_ODOMETRYPUBLISHER_HH_
18 #define IGNITION_GAZEBO_SYSTEMS_ODOMETRYPUBLISHER_HH_
19 
20 #include <memory>
21 
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 OdometryPublisherPrivate;
34 
42  // odometry message. This element is optional, and the default value
60  : public System,
61  public ISystemConfigure,
62  public ISystemPreUpdate,
63  public ISystemPostUpdate
64  {
66  public: OdometryPublisher();
67 
69  public: ~OdometryPublisher() override = default;
70 
71  // Documentation inherited
72  public: void Configure(const Entity &_entity,
75  EventManager &_eventMgr) override;
76 
77  // Documentation inherited
78  public: void PreUpdate(
79  const ignition::gazebo::UpdateInfo &_info,
81 
82  // Documentation inherited
83  public: void PostUpdate(
84  const UpdateInfo &_info,
85  const EntityComponentManager &_ecm) override;
86 
89  };
90  }
91 }
92 }
93 }
94 
95 #endif
Interface for a system that uses the PostUpdate phase.
Definition: System.hh:119
Information passed to systems on the update callback.
Definition: Types.hh:38
The EntityComponentManager constructs, deletes, and returns components and entities. A component can be of any class which inherits from components::BaseComponent.
Definition: EntityComponentManager.hh:66
The EventManager is used to send/receive notifications of simulator events.
Definition: EventManager.hh:54
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
Odometry Publisher which can be attached to any entity in order to periodically publish 2D or 3D odom...
Definition: OdometryPublisher.hh:59
Interface for a system that uses the PreUpdate phase.
Definition: System.hh:105
Base class for a System.
Definition: System.hh:73