Plugin which publishes a message if the model it is attached to has touched one or more specified targets continuously during a given time. More...

Public Member Functions
	TouchPlugin ()
	Constructor.

	~TouchPlugin () override=default
	Destructor.

void	Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
	Configure the system.

void	PostUpdate (const UpdateInfo &_info, const EntityComponentManager &_ecm) override

void	PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) final
	Documentation inherited.

void	Reset (const UpdateInfo &_info, EntityComponentManager &_ecm) final

Public Member Functions inherited from System
	System ()=default
	Constructor.

virtual	~System ()=default
	Destructor.

Public Member Functions inherited from ISystemConfigure
virtual	~ISystemConfigure ()=default

Public Member Functions inherited from ISystemPreUpdate
virtual	~ISystemPreUpdate ()=default

Public Member Functions inherited from ISystemPostUpdate
virtual	~ISystemPostUpdate ()=default

Public Member Functions inherited from ISystemReset
virtual	~ISystemReset ()=default

Additional Inherited Members
Public Types inherited from System
using	PriorityType = int32_t
	Signed integer type used for specifying priority of the execution order of PreUpdate and Update phases.

Static Public Attributes inherited from System
static constexpr PriorityType	kDefaultPriority = {0}
	Default priority value for execution order of the PreUpdate and Update phases.

static constexpr std::string_view	kPriorityElementName
	Name of the XML element from which the priority value will be parsed.

Detailed Description

Plugin which publishes a message if the model it is attached to has touched one or more specified targets continuously during a given time.

After publishing, the plugin is disabled. It can be re-enabled through a Gazebo Transport service call.

The plugin requires that a contact sensors is placed in at least one link on the model on which this plugin is attached.

System Parameters

<target> Name, or substring of a name, that identifies the target collision entity/entities. This value is searched in the scoped name of all collision entities, so it can possibly match more than one collision. For example, using the name of a model will match all of its collisions (scoped name /model_name/link_name/collision_name).
<collision> Optional parameter. Multiple <collision> elements are allowed. If specified, a touch event will only be emitted if contact occurs with the specified contact sensor collision in the model that the touch plugin is attached to. If no <collision> elements are specified, all contact sensor collisions are used.
<create_contact_sensor_for_collision> Optional parameter. If true, automatically create a contact sensor for the collision if the sensor does not exist already. This allows the TouchPlugin system to be used without explicitly defining contact sensors inside links in SDF. Default to false.
<time> Target time in seconds to maintain contact.
<namespace> Namespace for transport topics/services:
- /<namespace>/enable : Service used to enable and disable the plugin.
- /<namespace>/touched : Topic where a message is published once the touch event occurs.
<enabled> Set this to true so the plugin works from the start and doesn't need to be enabled.

TouchPlugin ( )

Constructor.

~TouchPlugin ( )

overridedefault

Destructor.

void Configure	(	const Entity &	_entity,
		const std::shared_ptr< const sdf::Element > &	_sdf,
		EntityComponentManager &	_ecm,
		EventManager &	_eventMgr
	)

overridevirtual

Configure the system.

Parameters

[in]	_entity	The entity this plugin is attached to.
[in]	_sdf	The SDF Element associated with this system plugin.
[in]	_ecm	The EntityComponentManager of the given simulation instance.
[in]	_eventMgr	The EventManager of the given simulation instance.