FreeSpaceExplorer.hh

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/*
 * Copyright (C) 2025 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef GZ_SIM_SYSTEMS_FREESPACEEXPLORER_HH_
#define GZ_SIM_SYSTEMS_FREESPACEEXPLORER_HH_
 
#include <gz/utils/ImplPtr.hh>
#include <memory>
 
#include "gz/sim/System.hh"
#include "gz/sim/config.hh"
 
namespace gz
{
namespace sim
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_SIM_VERSION_NAMESPACE {
namespace systems
{
  class FreeSpaceExplorer:
    public gz::sim::System,
    public gz::sim::ISystemConfigure,
    public gz::sim::ISystemPreUpdate,
    public gz::sim::ISystemPostUpdate
  {
    public: FreeSpaceExplorer();
 
    public: ~FreeSpaceExplorer() override;
 
    public: void Configure(
        const gz::sim::Entity &_entity,
        const std::shared_ptr<const sdf::Element> &_sdf,
        gz::sim::EntityComponentManager &_ecm,
        gz::sim::EventManager &/*_eventMgr*/) override;
 
    public: void PreUpdate(
        const gz::sim::UpdateInfo &_info,
        gz::sim::EntityComponentManager &_ecm) override;
 
    // Documentation inherited
    public: void PostUpdate(
      const gz::sim::UpdateInfo &_info,
      const gz::sim::EntityComponentManager &_ecm) override;
 
    private: GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
  };
}
}
}
}
#endif