Gazebo Gazebo

API Reference

6.16.0
PerformerDetector.hh
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17 
18 #ifndef GZ_GAZEBO_SYSTEMS_PERFORMERDETECTOR_HH_
19 #define GZ_GAZEBO_SYSTEMS_PERFORMERDETECTOR_HH_
20 
21 #include <map>
22 #include <memory>
23 #include <string>
24 #include <unordered_set>
25 
26 #include <gz/transport/Node.hh>
27 
28 #include "gz/sim/Model.hh"
29 #include "gz/sim/System.hh"
30 
31 namespace ignition
32 {
33 namespace gazebo
34 {
35 // Inline bracket to help doxygen filtering.
36 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
37 namespace systems
38 {
81 
83  : public System,
84  public ISystemConfigure,
85  public ISystemPostUpdate
86  {
88  public: PerformerDetector() = default;
89 
91  public: void Configure(const Entity &_entity,
94  EventManager &_eventMgr) final;
95 
97  public: void PostUpdate(
98  const gz::sim::UpdateInfo &_info,
99  const gz::sim::EntityComponentManager &_ecm) final;
100 
104  private: bool IsAlreadyDetected(const Entity &_entity) const;
105 
108  private: void AddToDetected(const Entity &_entity);
109 
112  private: void RemoveFromDetected(const Entity &_entity);
113 
121  private: void Publish(const Entity &_entity, const std::string &_name,
122  bool _state, const math::Pose3d &_pose,
123  const std::chrono::steady_clock::duration &_stamp);
124 
126  private: std::unordered_set<Entity> detectedEntities;
127 
129  private: Model model;
130 
132  private: std::string detectorName;
133 
135  private: math::AxisAlignedBox detectorGeometry;
136 
138  private: transport::Node::Publisher pub;
139 
141  private: bool initialized{false};
142 
144  private: math::Pose3d poseOffset;
145 
147  private: std::map<std::string, std::string> extraHeaderData;
148  };
149 
150  }
151 }
152 }
153 }
154 
155 #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
PerformerDetector()=default
Documentation inherited.
The EventManager is used to send/receive notifications of simulator events.
Definition: gz/sim/EventManager.hh:54
Information passed to systems on the update callback.
Definition: include/gz/sim/Types.hh:38
void PostUpdate(const gz::sim::UpdateInfo &_info, const gz::sim::EntityComponentManager &_ecm) final
Documentation inherited.
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
void Configure(const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) final
Documentation inherited.
A system system that publishes on a topic when a performer enters or leaves a specified region.
Definition: PerformerDetector.hh:82