Ignition Gazebo

API Reference

7.0.0~pre1
Sensors.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef IGNITION_GAZEBO_SYSTEMS_SENSORS_HH_
18 #define IGNITION_GAZEBO_SYSTEMS_SENSORS_HH_
19 
20 #include <memory>
21 #include <string>
22 
23 #include <ignition/gazebo/config.hh>
25 #include <sdf/Sensor.hh>
26 
27 namespace ignition
28 {
29 namespace gazebo
30 {
31 // Inline bracket to help doxygen filtering.
32 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
33 namespace systems
34 {
35  // Forward declarations.
36  class SensorsPrivate;
37 
41  class Sensors:
42  public System,
43  public ISystemConfigure,
44  public ISystemUpdate,
45  public ISystemPostUpdate
46  {
48  public: explicit Sensors();
49 
51  public: ~Sensors() override;
52 
53  // Documentation inherited
54  public: void Configure(const Entity &_id,
57  EventManager &_eventMgr) final;
58 
59  // Documentation inherited
60  public: void Update(const UpdateInfo &_info,
61  EntityComponentManager &_ecm) final;
62 
63  // Documentation inherited
64  public: void PostUpdate(const UpdateInfo &_info,
65  const EntityComponentManager &_ecm) final;
66 
72  private : std::string CreateSensor(const Entity &_entity,
73  const sdf::Sensor &_sdf,
74  const std::string &_parentName);
75 
78  private : void RemoveSensor(const Entity &_entity);
79 
81  private: std::unique_ptr<SensorsPrivate> dataPtr;
82  };
83  }
84 }
85 }
86 }
87 #endif
Interface for a system that uses the PostUpdate phase.
Definition: System.hh:119
Interface for a system that uses the Update phase.
Definition: System.hh:112
Information passed to systems on the update callback.
Definition: Types.hh:38
STL class.
The EntityComponentManager constructs, deletes, and returns components and entities. A component can be of any class which inherits from components::BaseComponent.
Definition: EntityComponentManager.hh:66
The EventManager is used to send/receive notifications of simulator events.
Definition: EventManager.hh:54
Interface for a system that implements optional configuration.
Definition: System.hh:88
TODO(louise) Have one system for all sensors, or one per sensor / sensor type?
Definition: Sensors.hh:41
This library is part of the Ignition Robotics project.
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light. At its core, an Entity is just an identifier.
Definition: Entity.hh:59
Component< NoData, class SensorTag > Sensor
A component that identifies an entity as being a sensor.
Definition: Sensor.hh:35
Base class for a System.
Definition: System.hh:73