DriveToPoseController.hh

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/*
 * Copyright (C) 2024 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_SIM_SYSTEMS_DRIVETOPOSECONTROLLER_HH_
#define GZ_SIM_SYSTEMS_DRIVETOPOSECONTROLLER_HH_
 
#include <gz/sim/Entity.hh>
#include <gz/sim/EntityComponentManager.hh>
#include <gz/sim/EventManager.hh>
#include <gz/sim/System.hh>
 
#include <sdf/Element.hh>
 
#include <memory>
 
namespace gz
{
namespace sim
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_SIM_VERSION_NAMESPACE
{
namespace systems
{
  // Forward declaration
  class DriveToPoseControllerPrivate;
 
  class DriveToPoseController
      : public System,
        public ISystemConfigure,
        public ISystemPostUpdate
  {
    public: DriveToPoseController();
 
    public: ~DriveToPoseController() override = default;
 
    // Documentation inherited
    public: void Configure(
                  const Entity& _entity,
                  const std::shared_ptr<const sdf::Element>& _sdf,
                  EntityComponentManager& _ecm,
                  EventManager& _eventMgr) override;
 
    // Documentation inherited
    public: void PostUpdate(
                  const UpdateInfo& _info,
                  const EntityComponentManager& _ecm) override;
 
    private: std::unique_ptr<DriveToPoseControllerPrivate> dataPtr;
  };
}
}
}
}
 
#endif