Gazebo Gazebo

API Reference

3.15.1
TouchPlugin.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 
18 #ifndef GZ_GAZEBO_SYSTEMS_TOUCH_PLUGIN_HH_
19 #define GZ_GAZEBO_SYSTEMS_TOUCH_PLUGIN_HH_
20 
21 #include <memory>
22 #include <gz/sim/System.hh>
23 
24 namespace ignition
25 {
26 namespace gazebo
27 {
28 // Inline bracket to help doxygen filtering.
29 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
30 namespace systems
31 {
32  // Forward declaration
33  class TouchPluginPrivate;
34 
62  : public System,
63  public ISystemConfigure,
64  public ISystemPreUpdate,
65  public ISystemPostUpdate
66  {
68  public: TouchPlugin();
69 
71  public: ~TouchPlugin() override = default;
72 
73  // Documentation inherited
74  public: void Configure(const Entity &_entity,
77  EventManager &_eventMgr) override;
78 
80  public: void PreUpdate(const UpdateInfo &_info,
81  EntityComponentManager &_ecm) final;
82 
83  // Documentation inherited
84  public: void PostUpdate(
85  const gz::sim::UpdateInfo &_info,
86  const gz::sim::EntityComponentManager &_ecm) override;
87 
89  private: std::unique_ptr<TouchPluginPrivate> dataPtr;
90  };
91  }
92 }
93 }
94 }
95 
96 #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.
void PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm) final
Documentation inherited.
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) override
void Configure(const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
Configure the system.
Interface for a system that uses the PreUpdate phase.
Definition: gz/sim/System.hh:105
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
Plugin which checks if a model has touched some specific target for a given time continuously and exc...
Definition: TouchPlugin.hh:61