Gazebo Gazebo

API Reference

3.15.1
Buoyancy.hh
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2020 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16  */
17 #ifndef GZ_GAZEBO_SYSTEMS_BUOYANCY_HH_
18 #define GZ_GAZEBO_SYSTEMS_BUOYANCY_HH_
19 
20 #include <gz/sim/System.hh>
21 #include <memory>
22 
23 namespace ignition
24 {
25 namespace gazebo
26 {
27 // Inline bracket to help doxygen filtering.
28 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
29 namespace systems
30 {
31  // Forward declaration
32  class BuoyancyPrivate;
33 
60  class Buoyancy
61  : public System,
62  public ISystemConfigure,
63  public ISystemPreUpdate
64  {
66  public: Buoyancy();
67 
69  public: ~Buoyancy() override = default;
70 
71  // Documentation inherited
72  public: void Configure(const Entity &_entity,
75  EventManager &_eventMgr) override;
76 
77  // Documentation inherited
78  public: void PreUpdate(
79  const gz::sim::UpdateInfo &_info,
80  gz::sim::EntityComponentManager &_ecm) override;
81 
83  private: std::unique_ptr<BuoyancyPrivate> dataPtr;
84  };
85  }
86 }
87 }
88 }
89 
90 #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.
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
A system that simulates buoyancy of objects immersed in fluid. All SDF parameters are optional....
Definition: Buoyancy.hh:60
Interface for a system that uses the PreUpdate phase.
Definition: gz/sim/System.hh:105
Interface for a system that implements optional configuration.
Definition: gz/sim/System.hh:88
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.
Base class for a System.
Definition: gz/sim/System.hh:73