Gazebo Gazebo

API Reference

6.16.0
Buoyancy.hh
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17 #ifndef GZ_GAZEBO_SYSTEMS_BUOYANCY_HH_
18 #define GZ_GAZEBO_SYSTEMS_BUOYANCY_HH_
19 
20 #include <gz/sim/System.hh>
21 #include <memory>
22 
23 namespace ignition
24 {
25 namespace gazebo
26 {
27 // Inline bracket to help doxygen filtering.
28 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
29 namespace systems
30 {
31  // Forward declaration
32  class BuoyancyPrivate;
33 
113  class Buoyancy
114  : public System,
115  public ISystemConfigure,
116  public ISystemPreUpdate
117  {
119  public: Buoyancy();
120 
122  public: ~Buoyancy() override = default;
123 
124  // Documentation inherited
125  public: void Configure(const Entity &_entity,
128  EventManager &_eventMgr) override;
129 
130  // Documentation inherited
131  public: void PreUpdate(
132  const gz::sim::UpdateInfo &_info,
133  gz::sim::EntityComponentManager &_ecm) override;
134 
139  public: bool IsEnabled(Entity _entity,
140  const EntityComponentManager &_ecm) const;
141 
143  private: std::unique_ptr<BuoyancyPrivate> dataPtr;
144  };
145  }
146 }
147 }
148 }
149 
150 #endif
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light....
Definition: gz/sim/Entity.hh:58
This library is part of the Gazebo project.
The EntityComponentManager constructs, deletes, and returns components and entities....
Definition: gz/sim/EntityComponentManager.hh:66
STL class.
The EventManager is used to send/receive notifications of simulator events.
Definition: gz/sim/EventManager.hh:54
bool IsEnabled(Entity _entity, const EntityComponentManager &_ecm) const
Check if an entity is enabled or not.
Information passed to systems on the update callback.
Definition: include/gz/sim/Types.hh:38
A system that simulates buoyancy of objects immersed in fluid. All SDF parameters are optional....
Definition: Buoyancy.hh:113
Interface for a system that uses the PreUpdate phase.
Definition: gz/sim/System.hh:121
Interface for a system that implements optional configuration.
Definition: gz/sim/System.hh:90
void PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) override
void Configure(const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
Configure the system.
Base class for a System.
Definition: gz/sim/System.hh:75
~Buoyancy() override=default
Destructor.