Gazebo Gazebo

API Reference

6.16.0
TrajectoryFollower.hh
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17 #ifndef IGNITION_GAZEBO_SYSTEMS_TRAJECTORYFOLLOWER_HH_
18 #define IGNITION_GAZEBO_SYSTEMS_TRAJECTORYFOLLOWER_HH_
19 
20 #include <gz/sim/System.hh>
21 #include <memory>
22 
23 namespace ignition
24 {
25 namespace gazebo
26 {
27 // Inline bracket to help doxygen filtering.
28 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
29 namespace systems
30 {
31  // Forward declaration
32  class TrajectoryFollowerPrivate;
33 
91  // <plugin
92  // filename="ignition-gazebo-trajectory-follower-system"
93  // name="ignition::gazebo::systems::TrajectoryFollower">
94  // <link_name>base_link</link_name>
95  // <loop>true</loop>
96  // <waypoints>
97  // <waypoint>25 0</waypoint>
98  // <waypoint>15 0</waypoint>
99  // </waypoints>
100  // </plugin>
101  // <plugin
102  // filename="ignition-gazebo-trajectory-follower-system"
103  // name="ignition::gazebo::systems::TrajectoryFollower">
104  // <link_name>base_link</link_name>
105  // <loop>true</loop>
106  // <line>
107  // <direction>0</direction>
108  // <length>5</length>
109  // </line>
110  // </plugin>
111  // <plugin
112  // filename="ignition-gazebo-trajectory-follower-system"
113  // name="ignition::gazebo::systems::TrajectoryFollower">
114  // <link_name>base_link</link_name>
115  // <loop>true</loop>
116  // <circle>
117  // <radius>2</radius>
118  // </circle>
119  // </plugin>
121  : public System,
122  public ISystemConfigure,
123  public ISystemPreUpdate
124  {
126  public: TrajectoryFollower();
127 
129  public: ~TrajectoryFollower() override = default;
130 
131  // Documentation inherited
132  public: void Configure(const Entity &_entity,
135  EventManager &_eventMgr) override;
136 
137  // Documentation inherited
138  public: void PreUpdate(
139  const ignition::gazebo::UpdateInfo &_info,
141 
146  public: bool IsEnabled(Entity _entity,
147  const EntityComponentManager &_ecm) const;
148 
151  };
152  }
153 }
154 }
155 }
156 
157 #endif
bool IsEnabled(Entity _entity, const EntityComponentManager &_ecm) const
Check if an entity is enabled or not.
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.
The EntityComponentManager constructs, deletes, and returns components and entities....
Definition: gz/sim/EntityComponentManager.hh:66
STL class.
void PreUpdate(const ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &_ecm) override
The EventManager is used to send/receive notifications of simulator events.
Definition: gz/sim/EventManager.hh:54
~TrajectoryFollower() override=default
Destructor.
void Configure(const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
Configure the system.
Information passed to systems on the update callback.
Definition: include/gz/sim/Types.hh:38
Interface for a system that uses the PreUpdate phase.
Definition: gz/sim/System.hh:121
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
A plugin that scripts the movement of a model based on waypoints. Note that at this point,...
Definition: TrajectoryFollower.hh:120