Gazebo Gazebo

API Reference

3.15.1
Breadcrumbs.hh
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2  * Copyright (C) 2019 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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13  * See the License for the specific language governing permissions and
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17 #ifndef GZ_GAZEBO_SYSTEMS_BREADCRUMBS_HH_
18 #define GZ_GAZEBO_SYSTEMS_BREADCRUMBS_HH_
19 
20 #include <memory>
21 #include <optional>
22 #include <set>
23 #include <unordered_map>
24 #include <vector>
25 
26 #include <sdf/Element.hh>
27 #include <sdf/Geometry.hh>
28 #include <sdf/Root.hh>
29 
30 #include <gz/transport/Node.hh>
31 #include <gz/math/Pose3.hh>
32 
33 #include "gz/sim/Model.hh"
35 #include "gz/sim/System.hh"
36 
37 namespace ignition
38 {
39 namespace gazebo
40 {
41 // Inline bracket to help doxygen filtering.
42 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
43 namespace systems
44 {
85  : public System,
86  public ISystemConfigure,
87  public ISystemPreUpdate
88  {
90  public: Breadcrumbs() = default;
91 
92  // Documentation inherited
93  public: void Configure(const Entity &_entity,
96  EventManager &_eventMgr) override;
97 
98  // Documentation inherited
99  public: void PreUpdate(
100  const gz::sim::UpdateInfo &_info,
101  gz::sim::EntityComponentManager &_ecm) override;
102 
104  private: void OnDeploy(const msgs::Empty &_msg);
105 
110  public: bool MakeStatic(Entity _entity, EntityComponentManager &_ecm);
111 
113  private: bool initialized{false};
114 
116  private: transport::Node node;
117 
119  private: Model model{kNullEntity};
120 
122  private: Entity worldEntity{kNullEntity};
123 
125  public: std::unique_ptr<SdfEntityCreator> creator{nullptr};
126 
128  private: int maxDeployments{-1};
129 
131  private: int numDeployments{0};
132 
134  private: sdf::Root modelRoot;
135 
137  private: bool isPerformer{false};
138 
141  private: bool allowRenaming{false};
142 
144  private: std::optional<sdf::Geometry> performerGeometry;
145 
147  private: std::vector<bool> pendingCmds;
148 
150  private: std::set<Entity> pendingGeometryUpdate;
151 
153  private: std::mutex pendingCmdsMutex;
154 
156  private: std::chrono::steady_clock::duration disablePhysicsTime =
157  std::chrono::steady_clock::duration::zero();
158 
161  autoStaticEntities;
162 
164  private: sdf::Model staticModelToSpawn;
165 
168  };
169  }
170 }
171 }
172 }
173 
174 #endif
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light....
Definition: gz/sim/Entity.hh:59
This library is part of the Ignition Robotics project.
The EntityComponentManager constructs, deletes, and returns components and entities....
Definition: gz/sim/EntityComponentManager.hh:65
STL class.
This class provides wrappers around entities and components which are more convenient and straight-fo...
Definition: gz/sim/Model.hh:60
bool MakeStatic(Entity _entity, EntityComponentManager &_ecm)
Make an entity static.
The EventManager is used to send/receive notifications of simulator events.
Definition: gz/sim/EventManager.hh:50
Information passed to systems on the update callback.
Definition: include/gz/sim/Types.hh:37
const Entity kNullEntity
Indicates a non-existant or invalid Entity.
Definition: gz/sim/Entity.hh:62
A system for creating Breadcrumbs in the form of models that can get deployed/spawned at the location...
Definition: Breadcrumbs.hh:84
Interface for a system that uses the PreUpdate phase.
Definition: gz/sim/System.hh:105
Component< NoData, class ModelTag > Model
A component that identifies an entity as being a model.
Definition: gz/sim/components/Model.hh:35
Interface for a system that implements optional configuration.
Definition: gz/sim/System.hh:88
Entity worldEntity(const Entity &_entity, const EntityComponentManager &_ecm)
Get the world to which the given entity belongs.
Base class for a System.
Definition: gz/sim/System.hh:73
std::unique_ptr< SdfEntityCreator > creator
Creator interface.
Definition: Breadcrumbs.hh:125
transport::Node::Publisher remainingPub
Publishes remaining deployments.
Definition: Breadcrumbs.hh:167
STL class.
STL class.
void PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) override
void Configure(const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
Configure the system.