Gazebo Gazebo

API Reference

3.15.1
JointStatePublisher.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
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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,
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13  * See the License for the specific language governing permissions and
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16  */
17 
18 #ifndef GZ_GAZEBO_SYSTEMS_STATE_PUBLISHER_HH_
19 #define GZ_GAZEBO_SYSTEMS_STATE_PUBLISHER_HH_
20 
21 #include <memory>
22 #include <set>
23 #include <gz/sim/Model.hh>
24 #include <gz/transport/Node.hh>
25 #include <gz/sim/System.hh>
26 
27 namespace ignition
28 {
29 namespace gazebo
30 {
31 // Inline bracket to help doxygen filtering.
32 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
33 namespace systems
34 {
49  : public System,
50  public ISystemConfigure,
51  public ISystemPostUpdate
52  {
54  public: JointStatePublisher();
55 
57  public: ~JointStatePublisher() override = default;
58 
59  // Documentation inherited
60  public: void Configure(const Entity &_entity,
62  EntityComponentManager &_ecm, EventManager &) override;
63 
64  // Documentation inherited
65  public: void PostUpdate(const UpdateInfo &_info,
66  const EntityComponentManager &_ecm) final;
67 
71  private: void CreateComponents(EntityComponentManager &_ecm,
72  gz::sim::Entity _joint);
73 
75  private: Model model;
76 
78  private: transport::Node node;
79 
82 
84  private: std::set<Entity> joints;
85  };
86  }
87 }
88 }
89 }
90 
91 #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
void PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm) final
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
Interface for a system that uses the PostUpdate phase.
Definition: gz/sim/System.hh:119
Interface for a system that implements optional configuration.
Definition: gz/sim/System.hh:88
Base class for a System.
Definition: gz/sim/System.hh:73
The JointStatePub system publishes state information for a model. The published message type is gz::m...
Definition: JointStatePublisher.hh:48
void Configure(const Entity &_entity, const std::shared_ptr< const sdf::Element > &, EntityComponentManager &_ecm, EventManager &) override
Configure the system.
STL class.