Gazebo Gazebo

API Reference

3.15.1
PerformerDetector.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef GZ_GAZEBO_SYSTEMS_PERFORMERDETECTOR_HH_
19 #define GZ_GAZEBO_SYSTEMS_PERFORMERDETECTOR_HH_
20 
21 #include <map>
22 #include <memory>
23 #include <string>
24 #include <unordered_set>
25 
26 #include <gz/transport/Node.hh>
27 
28 #include "gz/sim/Model.hh"
29 #include "gz/sim/System.hh"
30 
31 namespace ignition
32 {
33 namespace gazebo
34 {
35 // Inline bracket to help doxygen filtering.
36 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
37 namespace systems
38 {
79 
81  : public System,
82  public ISystemConfigure,
83  public ISystemPostUpdate
84  {
86  public: PerformerDetector() = default;
87 
89  public: void Configure(const Entity &_entity,
92  EventManager &_eventMgr) final;
93 
95  public: void PostUpdate(
96  const gz::sim::UpdateInfo &_info,
97  const gz::sim::EntityComponentManager &_ecm) final;
98 
102  private: bool IsAlreadyDetected(const Entity &_entity) const;
103 
106  private: void AddToDetected(const Entity &_entity);
107 
110  private: void RemoveFromDetected(const Entity &_entity);
111 
119  private: void Publish(const Entity &_entity, const std::string &_name,
120  bool _state, const math::Pose3d &_pose,
121  const std::chrono::steady_clock::duration &_stamp);
122 
124  private: std::unordered_set<Entity> detectedEntities;
125 
127  private: Model model;
128 
130  private: std::string detectorName;
131 
133  private: math::AxisAlignedBox detectorGeometry;
134 
136  private: transport::Node::Publisher pub;
137 
139  private: bool initialized{false};
140 
142  private: math::Pose3d poseOffset;
143 
145  private: std::map<std::string, std::string> extraHeaderData;
146  };
147 
148  }
149 }
150 }
151 }
152 
153 #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.
STL class.
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
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
void PostUpdate(const gz::sim::UpdateInfo &_info, const gz::sim::EntityComponentManager &_ecm) final
Documentation inherited.
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
void Configure(const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) final
Documentation inherited.
A system system that publishes on a topic when a performer enters or leaves a specified region.
Definition: PerformerDetector.hh:80