TrajectoryFollower.hh

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/*
 * Copyright (C) 2022 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 IGNITION_GAZEBO_SYSTEMS_TRAJECTORYFOLLOWER_HH_
#define IGNITION_GAZEBO_SYSTEMS_TRAJECTORYFOLLOWER_HH_
 
#include <gz/sim/System.hh>
#include <memory>
 
namespace ignition
{
namespace gazebo
{
// Inline bracket to help doxygen filtering.
inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
namespace systems
{
  // Forward declaration
  class TrajectoryFollowerPrivate;
 
  // <plugin
  //   filename="ignition-gazebo-trajectory-follower-system"
  //   name="ignition::gazebo::systems::TrajectoryFollower">
  //   <link_name>base_link</link_name>
  //   <loop>true</loop>
  //   <waypoints>
  //     <waypoint>25 0</waypoint>
  //     <waypoint>15 0</waypoint>
  //   </waypoints>
  // </plugin>
  // <plugin
  //   filename="ignition-gazebo-trajectory-follower-system"
  //   name="ignition::gazebo::systems::TrajectoryFollower">
  //   <link_name>base_link</link_name>
  //   <loop>true</loop>
  //   <line>
  //     <direction>0</direction>
  //     <length>5</length>
  //   </line>
  // </plugin>
  // <plugin
  //   filename="ignition-gazebo-trajectory-follower-system"
  //   name="ignition::gazebo::systems::TrajectoryFollower">
  //   <link_name>base_link</link_name>
  //   <loop>true</loop>
  //   <circle>
  //     <radius>2</radius>
  //   </circle>
  // </plugin>
  class TrajectoryFollower
      : public System,
        public ISystemConfigure,
        public ISystemPreUpdate
  {
    public: TrajectoryFollower();
 
    public: ~TrajectoryFollower() override = default;
 
    // Documentation inherited
    public: void Configure(const Entity &_entity,
                           const std::shared_ptr<const sdf::Element> &_sdf,
                           EntityComponentManager &_ecm,
                           EventManager &_eventMgr) override;
 
    // Documentation inherited
    public: void PreUpdate(
                const ignition::gazebo::UpdateInfo &_info,
                ignition::gazebo::EntityComponentManager &_ecm) override;
 
    public: bool IsEnabled(Entity _entity,
        const EntityComponentManager &_ecm) const;
 
    private: std::unique_ptr<TrajectoryFollowerPrivate> dataPtr;
  };
  }
}
}
}
 
#endif