Gazebo Gazebo

API Reference

3.15.1
gz/sim/System.hh
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1 /*
2  * Copyright (C) 2018 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_SYSTEM_HH_
18 #define GZ_GAZEBO_SYSTEM_HH_
19 
20 #include <memory>
21 
22 #include <gz/sim/config.hh>
24 #include <gz/sim/EventManager.hh>
25 #include <gz/sim/Export.hh>
26 #include <gz/sim/Types.hh>
27 
28 #include <sdf/Element.hh>
29 
30 namespace ignition
31 {
32  namespace gazebo
33  {
34  // Inline bracket to help doxygen filtering.
35  inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
38  namespace systems {}
39 
73  class IGNITION_GAZEBO_VISIBLE System
74  {
76  public: System();
77 
79  public: virtual ~System();
80  };
81 
88  class IGNITION_GAZEBO_VISIBLE ISystemConfigure {
96  public: virtual void Configure(
97  const Entity &_entity,
100  EventManager &_eventMgr) = 0;
101  };
102 
105  class IGNITION_GAZEBO_VISIBLE ISystemPreUpdate {
106  public: virtual void PreUpdate(const UpdateInfo &_info,
107  EntityComponentManager &_ecm) = 0;
108  };
109 
112  class IGNITION_GAZEBO_VISIBLE ISystemUpdate {
113  public: virtual void Update(const UpdateInfo &_info,
114  EntityComponentManager &_ecm) = 0;
115  };
116 
119  class IGNITION_GAZEBO_VISIBLE ISystemPostUpdate{
120  public: virtual void PostUpdate(const UpdateInfo &_info,
121  const EntityComponentManager &_ecm) = 0;
122  };
123  }
124  }
125 }
126 #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
virtual void PostUpdate(const UpdateInfo &_info, const EntityComponentManager &_ecm)=0
virtual ~System()
Destructor.
virtual void Update(const UpdateInfo &_info, EntityComponentManager &_ecm)=0
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
virtual void Configure(const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr)=0
Configure the system.
Base class for a System.
Definition: gz/sim/System.hh:73
Interface for a system that uses the Update phase.
Definition: gz/sim/System.hh:112
virtual void PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm)=0