Plugin which checks if a model has touched some specific target for a given time continuously and exclusively. After the touch is completed, the plugin is disabled. It can be re-enabled through an Ignition transport service. More...

#include <TouchPlugin.hh>

Public Member Functions
	TouchPlugin ()
	Constructor. More...

	~TouchPlugin () override=default
	Destructor. More...

void	Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
	Configure the system. More...

void	PostUpdate (const gz::sim::UpdateInfo &_info, const gz::sim::EntityComponentManager &_ecm) override

void	PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) final
	Documentation inherited. More...

Public Member Functions inherited from System
	System ()=default
	Constructor. More...

virtual	~System ()=default
	Destructor. More...

Detailed Description

Plugin which checks if a model has touched some specific target for a given time continuously and exclusively. After the touch is completed, the plugin is disabled. It can be re-enabled through an Ignition transport service.

It requires that contact sensors be placed in at least one link on the model on which this plugin is attached.

Parameters:

<target> Scoped name of the desired collision entity that is checked to see if it's touching this model. This can be a substring of the desired collision name so we match more than one collision. For example, using the name of a model will match all its collisions.
<time> Target time in seconds to maintain contact.
<namespace> Namespace for transport topics/services:
- /<namespace>/enable : Service used to enable and disable the plugin.
- /<namespace>/touched : Topic where a message is published once the touch event occurs.
<enabled> Set this to true so the plugin works from the start and doesn't need to be enabled.

Constructor & Destructor Documentation

◆ TouchPlugin()

TouchPlugin ( )

Constructor.

◆ ~TouchPlugin()

~TouchPlugin ( )

overridedefault

Destructor.

Member Function Documentation

◆ Configure()

void Configure	(	const Entity &	_entity,
		const std::shared_ptr< const sdf::Element > &	_sdf,
		EntityComponentManager &	_ecm,
		EventManager &	_eventMgr
	)

overridevirtual

Configure the system.

Parameters

[in]	_entity	The entity this plugin is attached to.
[in]	_sdf	The SDF Element associated with this system plugin.
[in]	_ecm	The EntityComponentManager of the given simulation instance.
[in]	_eventMgr	The EventManager of the given simulation instance.