Component< DataType, Identifier, Serializer > Class Template Reference

A component type that wraps any data type. The intention is for this class to be used to create simple components while avoiding a lot of boilerplate code. The Identifier must be a unique type so that type aliases can be used to create new components. However the type does not need to be defined anywhere eg. More...

#include <Component.hh>

Public Types
using	Type = DataType
	Alias for DataType. More...

Public Member Functions
	Component ()=default
	Default constructor. More...
	Component (DataType _data)
	Constructor. More...
	~Component () override=default
	Destructor. More...
std::unique_ptr< BaseComponent >	Clone () override
	Clone the component. More...
DataType &	Data ()
	Get the mutable component data. This function will be deprecated in Gazebo 3, replaced by const DataType &Data() const. Use void SetData(const DataType &) to modify data. More...
const DataType &	Data () const
	Get the immutable component data. More...
void	Deserialize (std::istream &_in) override
	Fills a component based on a stream with a serialized data. By default, it will do nothing. Derived classes should override this function to support deserialization. More...
bool	operator!= (const Component &_component) const
	Inequality operator. More...
bool	operator== (const Component &_component) const
	Equality operator. More...
void	Serialize (std::ostream &_out) const override
	Fills a stream with a serialized version of the component. By default, it will leave the stream empty. Derived classes should override this function to support serialization. More...
bool	SetData (const DataType &_data, const std::function< bool(const DataType &, const DataType &)> &_eql)
	Set the data of this component. More...
ComponentTypeId	TypeId () const override
	Returns the unique ID for the component's type. The ID is derived from the name that is manually chosen during the Factory registration and is guaranteed to be the same across compilers and runs. More...
Public Member Functions inherited from BaseComponent
	BaseComponent ()=default
	Default constructor. More...
virtual	~BaseComponent ()=default
	Default destructor. More...

Static Public Attributes
static ComponentTypeId	typeId {0}
	Unique ID for this component type. This is set through the Factory registration. More...
static std::string	typeName
	Unique name for this component type. This is set through the Factory registration. More...

Detailed Description

template<typename DataType, typename Identifier, typename Serializer = serializers::DefaultSerializer<DataType>>
class ignition::gazebo::components::Component< DataType, Identifier, Serializer >

A component type that wraps any data type. The intention is for this class to be used to create simple components while avoiding a lot of boilerplate code. The Identifier must be a unique type so that type aliases can be used to create new components. However the type does not need to be defined anywhere eg.

using Static = Component<bool, class StaticTag>;

Note, however, that this scheme does not have a mechanism to stop someone accidentally defining another component that wraps a bool as such:

using AnotherComp = Component<bool, class StaticTag>;

In this case, Static and AnotherComp are exactly the same types and would not be differentiable by the EntityComponentManager.

A third template argument can be passed to Component to specify the serializer class to use. If this argument is not provided, Component will use DefaultSerializer<DataType> where DataType is the first template argument to Component. eg.

class BoolSerializer; // Defined elsewhere
using Static = Component<bool, class StaticTag, BoolSerializer>;

Template Parameters

DataType	Type of the data being wrapped by this component.
Identifier	Unique identifier for the component class, to avoid collision.
Serializer	A class that can serialize DataType. Defaults to a serializer that uses stream operators << and >> on the data if they exist.

Member Typedef Documentation

Type

using Type = DataType

Alias for DataType.

Constructor & Destructor Documentation

Component() [1/2]

Component ( )

default

Default constructor.

Component() [2/2]

Component ( DataType  _data )

explicit

Constructor.

Parameters

[in]

_data

Data to copy

~Component()

~Component ( )

overridedefault

Destructor.

Member Function Documentation

Clone()

std::unique_ptr< BaseComponent > Clone ( )

overridevirtual

Clone the component.

Returns

A pointer to the component.

Implements BaseComponent.

Data() [1/2]

const DataType & Data

Get the mutable component data. This function will be deprecated in Gazebo 3, replaced by const DataType &Data() const. Use void SetData(const DataType &) to modify data.

Returns

Mutable reference to the actual component information.

Todo:

(nkoenig) Deprecate this function in version 3.

Referenced by Component< DataType, Identifier, Serializer >::operator!=(), and Component< DataType, Identifier, Serializer >::operator==().

Data() [2/2]

const DataType& Data

(

)

const

Get the immutable component data.

Returns

Immutable reference to the actual component information.

Deserialize()

void Deserialize ( std::istream &  _in )

overridevirtual

Fills a component based on a stream with a serialized data. By default, it will do nothing. Derived classes should override this function to support deserialization.

Parameters

[in]

_in

In stream.

Reimplemented from BaseComponent.

operator!=()

bool operator!=

(

const Component< DataType, Identifier, Serializer > &

_component

)

const

Inequality operator.

Parameters

[in]

_component

Component to compare to.

Returns

True if different.

References Component< DataType, Identifier, Serializer >::Data().

operator==()

bool operator==

(

const Component< DataType, Identifier, Serializer > &

_component

)

const

Equality operator.

Parameters

[in]

_component

Component to compare to.

Returns

True if equal.

References Component< DataType, Identifier, Serializer >::Data().

Serialize()

void Serialize ( std::ostream &  _out ) const

overridevirtual

Fills a stream with a serialized version of the component. By default, it will leave the stream empty. Derived classes should override this function to support serialization.

Parameters

[in]

_out

Out stream.

Reimplemented from BaseComponent.

SetData()

bool SetData	(	const DataType &	_data,
		const std::function< bool(const DataType &, const DataType &)> &	_eql
	)

Set the data of this component.

Parameters

[in]	_data	New data for this component.
[in]	_eql	Equality comparison function. This function should return true if two instances of DataType are equal.

Returns

True if the _eql function returns false.

TypeId()

ComponentTypeId TypeId ( ) const

overridevirtual

Returns the unique ID for the component's type. The ID is derived from the name that is manually chosen during the Factory registration and is guaranteed to be the same across compilers and runs.

Implements BaseComponent.

Member Data Documentation

typeId

ComponentTypeId typeId {0}

inlinestatic

Unique ID for this component type. This is set through the Factory registration.

Referenced by Component< NoData, Identifier, Serializer >::TypeId().

typeName

std::string typeName

inlinestatic

Unique name for this component type. This is set through the Factory registration.

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The documentation for this class was generated from the following file:

• gz/sim/components/Component.hh