Gazebo Gazebo

API Reference

6.16.0
gz/sim/comms/ICommsModel.hh
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17 
18 #ifndef GZ_GAZEBO_ICOMMSMODEL_HH_
19 #define GZ_GAZEBO_ICOMMSMODEL_HH_
20 
21 #include <memory>
22 
23 #include <gz/utils/ImplPtr.hh>
24 #include <sdf/Element.hh>
26 #include "gz/sim/config.hh"
27 #include "gz/sim/System.hh"
28 
29 namespace ignition
30 {
31 namespace gazebo
32 {
33 // Inline bracket to help doxygen filtering.
34 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
35 
36  // Forward declarations
37  class EntityComponentManager;
38  class EventManager;
39 
40 namespace comms
41 {
67  class IGNITION_GAZEBO_VISIBLE ICommsModel:
68 #ifdef _MSC_VER
69  #pragma warning(push)
70  #pragma warning(disable:4275)
71 #endif
72  public System,
73 #ifdef _MSC_VER
74  #pragma warning(pop)
75 #endif
76  public ISystemConfigure,
77  public ISystemPreUpdate
78  {
80  public: explicit ICommsModel();
81 
82  // Documentation inherited.
83  public: void Configure(const Entity &_entity,
86  EventManager &_eventMgr) override;
87 
88  // Documentation inherited.
89  public: void PreUpdate(
90  const ignition::gazebo::UpdateInfo &_info,
92 
97  public: virtual void StepImpl(const UpdateInfo &_info,
99 
107  public: virtual void Load(const Entity &_entity,
110  EventManager &_eventMgr) = 0;
111 
122  public: virtual void Step(const UpdateInfo &_info,
123  const Registry &_currentRegistry,
124  Registry &_newRegistry,
125  EntityComponentManager &_ecm) = 0;
126 
128  IGN_UTILS_UNIQUE_IMPL_PTR(dataPtr)
129  };
130 }
131 }
132 }
133 }
134 
135 #endif
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light....
Definition: gz/sim/Entity.hh:58
Abstract interface to define how the environment should handle communication simulation....
Definition: gz/sim/comms/ICommsModel.hh:67
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
void Configure(const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
Configure the system.
The EventManager is used to send/receive notifications of simulator events.
Definition: gz/sim/EventManager.hh:54
virtual void Load(const Entity &_entity, std::shared_ptr< const sdf::Element > _sdf, EntityComponentManager &_ecm, EventManager &_eventMgr)=0
This method is called when the system is being configured override this to load any additional params...
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
virtual void Step(const UpdateInfo &_info, const Registry &_currentRegistry, Registry &_newRegistry, EntityComponentManager &_ecm)=0
This method is called when there is a timestep in the simulator override this to update your data str...
Base class for a System.
Definition: gz/sim/System.hh:75
virtual void StepImpl(const UpdateInfo &_info, EntityComponentManager &_ecm)
This method is called when there is a timestep in the simulator.