JointMonitor.hh

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/*
 * Copyright (C) 2021 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
 
/*
 * \author Nick Lamprianidis <nlamprian@gmail.com>
 * \date January 2021
 */
 
#ifndef GZ_GAZEBO_SYSTEMS_JOINT_MONITOR_HH_
#define GZ_GAZEBO_SYSTEMS_JOINT_MONITOR_HH_
 
#include <functional>
#include <memory>
 
#include <gz/sim/System.hh>
 
namespace ignition
{
namespace gazebo
{
// Inline bracket to help doxygen filtering
inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
namespace systems
{
// Data forward declaration
class JointMonitorPrivate;
 
class JointMonitor
{
  public: JointMonitor();
 
  public: ~JointMonitor();
 
  public: void Configure(
      Entity _joint, double _target, double _posEps, double _velEps,
      const std::function<void()> &_jointTargetReachedCallback);
 
  public: void Update(const EntityComponentManager &_ecm);
 
  private: std::unique_ptr<JointMonitorPrivate> dataPtr;
};
 
}  // namespace systems
}  // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
}  // namespace gazebo
}  // namespace ignition
 
#endif  // GZ_GAZEBO_SYSTEMS_JOINT_MONITOR_HH_