Gazebo Gazebo

API Reference

6.16.0
JointStatePublisher.hh
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2019 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 GZ_GAZEBO_SYSTEMS_STATE_PUBLISHER_HH_
19 #define GZ_GAZEBO_SYSTEMS_STATE_PUBLISHER_HH_
20 
21 #include <memory>
22 #include <set>
23 #include <string>
24 #include <gz/sim/Model.hh>
25 #include <gz/transport/Node.hh>
26 #include <gz/sim/System.hh>
27 
28 namespace ignition
29 {
30 namespace gazebo
31 {
32 // Inline bracket to help doxygen filtering.
33 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
34 namespace systems
35 {
53  : public System,
54  public ISystemConfigure,
55  public ISystemPostUpdate
56  {
58  public: JointStatePublisher();
59 
61  public: ~JointStatePublisher() override = default;
62 
63  // Documentation inherited
64  public: void Configure(const Entity &_entity,
66  EntityComponentManager &_ecm, EventManager &) override;
67 
68  // Documentation inherited
69  public: void PostUpdate(const UpdateInfo &_info,
70  const EntityComponentManager &_ecm) final;
71 
75  private: void CreateComponents(EntityComponentManager &_ecm,
76  gz::sim::Entity _joint);
77 
79  private: Model model;
80 
82  private: transport::Node node;
83 
86 
88  private: std::set<Entity> joints;
89 
91  private: std::string topic;
92  };
93  }
94 }
95 }
96 }
97 
98 #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.
STL class.
The EntityComponentManager constructs, deletes, and returns components and entities....
Definition: gz/sim/EntityComponentManager.hh:66
STL class.
This class provides wrappers around entities and components which are more convenient and straight-fo...
Definition: gz/sim/Model.hh:60
void PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) final
The EventManager is used to send/receive notifications of simulator events.
Definition: gz/sim/EventManager.hh:54
~JointStatePublisher() override=default
Destructor.
Information passed to systems on the update callback.
Definition: include/gz/sim/Types.hh:38
Interface for a system that uses the PostUpdate phase.
Definition: gz/sim/System.hh:135
Interface for a system that implements optional configuration.
Definition: gz/sim/System.hh:90
Base class for a System.
Definition: gz/sim/System.hh:75
The JointStatePub system publishes state information for a model. The published message type is gz::m...
Definition: JointStatePublisher.hh:52
void Configure(const Entity &_entity, const std::shared_ptr< const sdf::Element > &, EntityComponentManager &_ecm, EventManager &) override
Configure the system.
STL class.