Ignition Gazebo

API Reference

7.0.0~pre1
src/systems/detachable_joint/DetachableJoint.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef IGNITION_GAZEBO_SYSTEMS_DETACHABLEJOINT_HH_
19 #define IGNITION_GAZEBO_SYSTEMS_DETACHABLEJOINT_HH_
20 
21 #include <ignition/msgs/empty.pb.h>
22 
23 #include <memory>
24 #include <string>
26 
27 #include "ignition/gazebo/Model.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 {
56 
58  : public System,
59  public ISystemConfigure,
60  public ISystemPreUpdate
61  {
63  public: DetachableJoint() = default;
64 
66  public: void Configure(const Entity &_entity,
69  EventManager &_eventMgr) final;
70 
72  public: void PreUpdate(
73  const ignition::gazebo::UpdateInfo &_info,
75 
77  private: void OnDetachRequest(const msgs::Empty &_msg);
78 
80  private: Model model;
81 
83  private: std::string childModelName;
84 
86  private: std::string childLinkName;
87 
89  private: std::string topic;
90 
92  private: bool suppressChildWarning{false};
93 
95  private: Entity parentLinkEntity{kNullEntity};
96 
98  private: Entity childLinkEntity{kNullEntity};
99 
101  private: Entity detachableJointEntity{kNullEntity};
102 
104  private: std::atomic<bool> detachRequested{false};
105 
108 
110  private: bool validConfig{false};
111 
113  private: bool initialized{false};
114  };
115  }
116 }
117 }
118 }
119 
120 #endif
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:57
This class provides wrappers around entities and components which are more convenient and straight-fo...
Definition: Model.hh:60
transport::Node node
Ignition communication node.
Definition: src/systems/detachable_joint/DetachableJoint.hh:107
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
const Entity kNullEntity
Indicates a non-existant or invalid Entity.
Definition: Entity.hh:62
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/ignition/gazebo/components/DetachableJoint.hh:96
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
Interface for a system that uses the PreUpdate phase.
Definition: System.hh:105
Base class for a System.
Definition: System.hh:73