JointStatePublisher.hh

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/*
 * Copyright (C) 2019 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.
 *
 */
 
#ifndef GZ_GAZEBO_SYSTEMS_STATE_PUBLISHER_HH_
#define GZ_GAZEBO_SYSTEMS_STATE_PUBLISHER_HH_
 
#include <memory>
#include <set>
#include <string>
#include <chrono>
#include <gz/sim/Model.hh>
#include <gz/transport/Node.hh>
#include <gz/sim/System.hh>
 
namespace ignition
{
namespace gazebo
{
// Inline bracket to help doxygen filtering.
inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
namespace systems
{
  class JointStatePublisher
      : public System,
        public ISystemConfigure,
        public ISystemPostUpdate
  {
    public: JointStatePublisher();
 
    public: ~JointStatePublisher() override = default;
 
    // Documentation inherited
    public: void Configure(const Entity &_entity,
        const std::shared_ptr<const sdf::Element> &,
        EntityComponentManager &_ecm, EventManager &) override;
 
    // Documentation inherited
    public: void PostUpdate(const UpdateInfo &_info,
                            const EntityComponentManager &_ecm) final;
 
    private: void CreateComponents(EntityComponentManager &_ecm,
                                   gz::sim::Entity _joint);
 
    private: Model model;
 
    private: transport::Node node;
 
    private: std::unique_ptr<transport::Node::Publisher> modelPub;
 
    private: std::set<Entity> joints;
 
    private: std::string topic;
 
    private: std::chrono::steady_clock::duration updatePeriod{0};
 
    private: std::chrono::steady_clock::duration lastUpdateTime{0};
  };
  }
}
}
}
 
#endif