Gazebo Gazebo

API Reference

6.16.0
gz/sim/System.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef GZ_GAZEBO_SYSTEM_HH_
18 #define GZ_GAZEBO_SYSTEM_HH_
19 
20 #include <memory>
21 
22 #include <gz/sim/config.hh>
24 #include <gz/sim/EventManager.hh>
25 #include <gz/sim/Export.hh>
26 #include <gz/sim/Types.hh>
27 
28 #include <gz/transport/parameters/Registry.hh>
29 
30 #include <sdf/Element.hh>
31 
32 namespace ignition
33 {
34  namespace gazebo
35  {
36  // Inline bracket to help doxygen filtering.
37  inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
40  namespace systems {}
41 
75  class System
76  {
78  public: System() = default;
79 
81  public: virtual ~System() = default;
82  };
83 
98  public: virtual void Configure(
99  const Entity &_entity,
102  EventManager &_eventMgr) = 0;
103  };
104 
113  public: virtual void ConfigureParameters(
115  _registry,
116  EntityComponentManager &_ecm) = 0;
117  };
118 
122  public: virtual void PreUpdate(const UpdateInfo &_info,
123  EntityComponentManager &_ecm) = 0;
124  };
125 
129  public: virtual void Update(const UpdateInfo &_info,
130  EntityComponentManager &_ecm) = 0;
131  };
132 
136  public: virtual void PostUpdate(const UpdateInfo &_info,
137  const EntityComponentManager &_ecm) = 0;
138  };
139  }
140  }
141 }
142 #endif
Interface for a system that declares parameters.
Definition: gz/sim/System.hh:110
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.
The EventManager is used to send/receive notifications of simulator events.
Definition: gz/sim/EventManager.hh:54
virtual void ConfigureParameters(ignition::transport::parameters::ParametersRegistry &_registry, EntityComponentManager &_ecm)=0
Configure the parameters of the system.
Information passed to systems on the update callback.
Definition: include/gz/sim/Types.hh:38
virtual void PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm)=0
virtual void Update(const UpdateInfo &_info, EntityComponentManager &_ecm)=0
Interface for a system that uses the PreUpdate phase.
Definition: gz/sim/System.hh:121
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
virtual void Configure(const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr)=0
Configure the system.
virtual ~System()=default
Destructor.
Base class for a System.
Definition: gz/sim/System.hh:75
System()=default
Constructor.
Interface for a system that uses the Update phase.
Definition: gz/sim/System.hh:128
virtual void PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm)=0