Gazebo Gazebo

API Reference

6.16.0
src/systems/detachable_joint/DetachableJoint.hh
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1 /*
2  * Copyright (C) 2019 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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16  */
17 
18 #ifndef GZ_GAZEBO_SYSTEMS_DETACHABLEJOINT_HH_
19 #define GZ_GAZEBO_SYSTEMS_DETACHABLEJOINT_HH_
20 
21 #include <gz/msgs/empty.pb.h>
22 
23 #include <memory>
24 #include <string>
25 #include <gz/transport/Node.hh>
26 
27 #include "gz/sim/Model.hh"
28 #include "gz/sim/System.hh"
29 
30 namespace ignition
31 {
32 namespace gazebo
33 {
34 // Inline bracket to help doxygen filtering.
35 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
36 namespace systems
37 {
72 
74  : public System,
75  public ISystemConfigure,
76  public ISystemPreUpdate
77  {
79  public: DetachableJoint() = default;
80 
82  public: void Configure(const Entity &_entity,
85  EventManager &_eventMgr) final;
86 
88  public: void PreUpdate(
89  const gz::sim::UpdateInfo &_info,
91 
93  private: transport::Node node;
94 
96  private: transport::Node::Publisher outputPub;
97 
99  private: void PublishJointState(bool attached);
100 
102  private: void OnDetachRequest(const msgs::Empty &_msg);
103 
105  private: void GetChildModelAndLinkEntities(
107 
109  private: Model model;
110 
112  private: std::string childModelName;
113 
115  private: std::string childLinkName;
116 
118  private: std::string detachTopic;
119 
121  private: std::string attachTopic;
122 
124  private: std::string outputTopic;
125 
127  private: bool suppressChildWarning{false};
128 
130  private: Entity parentLinkEntity{kNullEntity};
131 
133  private: Entity childLinkEntity{kNullEntity};
134 
136  private: Entity detachableJointEntity{kNullEntity};
137 
139  private: std::atomic<bool> detachRequested{false};
140 
142  private: std::atomic<bool> attachRequested{true};
143 
145  private: std::atomic<bool> isAttached{false};
146 
148  private: bool validConfig{false};
149 
150  };
151  }
152 }
153 }
154 }
155 
156 #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
This library is part of the Gazebo project.
STL class.
The EntityComponentManager constructs, deletes, and returns components and entities....
Definition: gz/sim/EntityComponentManager.hh:66
STL class.
This class provides wrappers around entities and components which are more convenient and straight-fo...
Definition: gz/sim/Model.hh:60
Component< DetachableJointInfo, class DetachableJointTag, serializers::DetachableJointInfoSerializer > DetachableJoint
A component that identifies an entity as being a detachable joint. It also contains additional inform...
Definition: include/gz/sim/components/DetachableJoint.hh:96
The EventManager is used to send/receive notifications of simulator events.
Definition: gz/sim/EventManager.hh:54
Information passed to systems on the update callback.
Definition: include/gz/sim/Types.hh:38
void PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) final
Documentation inherited.
const Entity kNullEntity
Indicates a non-existant or invalid Entity.
Definition: gz/sim/Entity.hh:61
DetachableJoint()=default
Documentation inherited.
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
A system that initially attaches two models via a fixed joint and allows for the models to get detach...
Definition: src/systems/detachable_joint/DetachableJoint.hh:73
Base class for a System.
Definition: gz/sim/System.hh:75
void Configure(const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) final
Documentation inherited.