Gazebo Gazebo

API Reference

3.15.1
Contact.hh
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1 /*
2  * Copyright (C) 2019 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_CONTACT_HH_
18 #define GZ_GAZEBO_SYSTEMS_CONTACT_HH_
19 
20 #include <memory>
21 #include <gz/sim/System.hh>
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 ContactPrivate;
33 
37  class Contact :
40  public System,
41  public ISystemPreUpdate,
42  public ISystemPostUpdate
43  {
45  public: Contact();
46 
48  public: ~Contact() final = default;
49 
51  public: void PreUpdate(const UpdateInfo &_info,
52  EntityComponentManager &_ecm) final;
53 
55  public: void PostUpdate(const UpdateInfo &_info,
56  const EntityComponentManager &_ecm) final;
57 
59  private: std::unique_ptr<ContactPrivate> dataPtr;
60  };
61 }
62 }
63 } // namespace gazebo
64 } // namespace ignition
65 #endif
This library is part of the Ignition Robotics project.
void PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) final
Documentation inherited.
void PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm) final
Documentation inherited.
STL namespace.