Gazebo Gazebo

API Reference

6.16.0
PerfectComms.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef IGNITION_GAZEBO_SYSTEMS_PERFECTCOMMS_HH_
18 #define IGNITION_GAZEBO_SYSTEMS_PERFECTCOMMS_HH_
19 
20 #include <memory>
21 
22 #include <gz/utils/ImplPtr.hh>
23 #include <sdf/sdf.hh>
25 #include "gz/sim/System.hh"
26 
27 namespace ignition
28 {
29 namespace gazebo
30 {
31 // Inline bracket to help doxygen filtering.
32 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
33 namespace systems
34 {
35  // Forward declarations.
36  class MsgManager;
37 
41  : public comms::ICommsModel
42  {
44  public: explicit PerfectComms();
45 
46  // Documentation inherited.
47  public: void Load(const Entity &_entity,
50  EventManager &_eventMgr) override;
51 
52  // Documentation inherited.
53  public: void Step(const ignition::gazebo::UpdateInfo &_info,
54  const comms::Registry &_currentRegistry,
55  comms::Registry &_newRegistry,
56  EntityComponentManager &_ecm) override;
57 
59  IGN_UTILS_UNIQUE_IMPL_PTR(dataPtr)
60  };
61  }
62 }
63 }
64 }
65 
66 #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
Abstract interface to define how the environment should handle communication simulation....
Definition: gz/sim/comms/ICommsModel.hh:67
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
An example of a comms model. This model always delivers any message to its destination.
Definition: PerfectComms.hh:40
Information passed to systems on the update callback.
Definition: include/gz/sim/Types.hh:38
void Load(const Entity &_entity, std::shared_ptr< const sdf::Element > _sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
This method is called when the system is being configured override this to load any additional params...
void Step(const ignition::gazebo::UpdateInfo &_info, const comms::Registry &_currentRegistry, comms::Registry &_newRegistry, EntityComponentManager &_ecm) override
This method is called when there is a timestep in the simulator override this to update your data str...