OpticalTactilePlugin.hh

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/*
 * Copyright (C) 2020 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 IGNITION_GAZEBO_SYSTEMS_OPTICAL_TACTILE_PLUGIN_HH_
#define IGNITION_GAZEBO_SYSTEMS_OPTICAL_TACTILE_PLUGIN_HH_
 
#include <memory>
#include <gz/sim/System.hh>
#include "Visualization.hh"
 
namespace ignition
{
namespace gazebo
{
// Inline bracket to help doxygen filtering.
inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
namespace systems
{
  // Forward declaration
  class OpticalTactilePluginPrivate;
 
 
  class OpticalTactilePlugin :
    public System,
    public ISystemConfigure,
    public ISystemPreUpdate,
    public ISystemPostUpdate
  {
    public: OpticalTactilePlugin();
 
    public: ~OpticalTactilePlugin() override = default;
 
    // Documentation inherited
    public: void Configure(const Entity &_entity,
                           const std::shared_ptr<const sdf::Element> &_sdf,
                           EntityComponentManager &_ecm,
                           EventManager &_eventMgr) override;
 
    public: void PreUpdate(const UpdateInfo &_info,
                           EntityComponentManager &_ecm) override;
 
    // Documentation inherited
    public: void PostUpdate(
        const ignition::gazebo::UpdateInfo &_info,
        const ignition::gazebo::EntityComponentManager &_ecm) override;
 
    private: std::unique_ptr<OpticalTactilePluginPrivate> dataPtr;
  };
}  // namespace systems
}  // namespace IGNITION_GAZEBO_VERSION_NAMESPACE
}  // namespace gazebo
}  // namespace ignition
 
#endif