PerformerDetector.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 GZ_SIM_SYSTEMS_PERFORMERDETECTOR_HH_
#define GZ_SIM_SYSTEMS_PERFORMERDETECTOR_HH_
 
#include <map>
#include <memory>
#include <string>
#include <unordered_set>
 
#include <gz/math/AxisAlignedBox.hh>
#include <gz/transport/Node.hh>
 
#include "gz/sim/Model.hh"
#include "gz/sim/System.hh"
 
namespace gz
{
namespace sim
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_SIM_VERSION_NAMESPACE {
namespace systems
{
 
  class PerformerDetector
      : public System,
        public ISystemConfigure,
        public ISystemPostUpdate
  {
    public: PerformerDetector() = default;
 
    public: void Configure(const Entity &_entity,
                           const std::shared_ptr<const sdf::Element> &_sdf,
                           EntityComponentManager &_ecm,
                           EventManager &_eventMgr) final;
 
    public: void PostUpdate(
                const gz::sim::UpdateInfo &_info,
                const gz::sim::EntityComponentManager &_ecm) final;
 
    private: bool IsAlreadyDetected(const Entity &_entity) const;
 
    private: void AddToDetected(const Entity &_entity);
 
    private: void RemoveFromDetected(const Entity &_entity);
 
    private: void Publish(const Entity &_entity, const std::string &_name,
                          bool _state, const math::Pose3d &_pose,
                          const std::chrono::steady_clock::duration &_stamp);
 
    private: std::unordered_set<Entity> detectedEntities;
 
    private: Model model;
 
    private: std::string detectorName;
 
    private: math::AxisAlignedBox detectorGeometry;
 
    private: transport::Node::Publisher pub;
 
    private: bool initialized{false};
 
    private: math::Pose3d poseOffset;
 
    private: std::map<std::string, std::string> extraHeaderData;
  };
 
  }
}
}
}
 
#endif