Contact.hh

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/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef GZ_GAZEBO_SYSTEMS_CONTACT_HH_
#define GZ_GAZEBO_SYSTEMS_CONTACT_HH_
 
#include <memory>
#include <gz/sim/System.hh>
 
namespace ignition
{
namespace gazebo
{
// Inline bracket to help doxygen filtering.
inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
namespace systems
{
  // Forward declaration
  class ContactPrivate;
 
  class Contact :
    public System,
    public ISystemPreUpdate,
    public ISystemPostUpdate
  {
    public: Contact();
 
    public: ~Contact() final = default;
 
    public: void PreUpdate(const UpdateInfo &_info,
                           EntityComponentManager &_ecm) final;
 
    public: void PostUpdate(const UpdateInfo &_info,
                            const EntityComponentManager &_ecm) final;
 
    private: std::unique_ptr<ContactPrivate> dataPtr;
  };
}
}
}  // namespace gazebo
}  // namespace ignition
#endif