Gazebo Gazebo

API Reference

6.16.0
UserCommands.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
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17 #ifndef GZ_GAZEBO_SYSTEMS_USERCOMMANDS_HH_
18 #define GZ_GAZEBO_SYSTEMS_USERCOMMANDS_HH_
19 
20 #include <memory>
21 #include <gz/sim/config.hh>
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 declarations.
33  class UserCommandsPrivate;
34 
73  class UserCommands:
74  public System,
75  public ISystemConfigure,
76  public ISystemPreUpdate
77  {
79  public: explicit UserCommands();
80 
82  public: ~UserCommands() final;
83 
84  // Documentation inherited
85  public: void Configure(const Entity &_entity,
88  EventManager &_eventMgr) override;
89 
95  public: void PreUpdate(const UpdateInfo &_info,
96  EntityComponentManager &_ecm) final;
97 
99  private: std::unique_ptr<UserCommandsPrivate> dataPtr;
100  };
101  }
102 }
103 }
104 }
105 #endif
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light....
Definition: gz/sim/Entity.hh:58
This library is part of the Gazebo project.
The EntityComponentManager constructs, deletes, and returns components and entities....
Definition: gz/sim/EntityComponentManager.hh:66
STL class.
void PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm) final
All received commands are queued in order of reception and executed in order during PreUpdate.
The EventManager is used to send/receive notifications of simulator events.
Definition: gz/sim/EventManager.hh:54
This system provides an Ignition Transport interface to execute commands while simulation is running.
Definition: UserCommands.hh:73
Information passed to systems on the update callback.
Definition: include/gz/sim/Types.hh:38
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:121
Interface for a system that implements optional configuration.
Definition: gz/sim/System.hh:90
Base class for a System.
Definition: gz/sim/System.hh:75