PosePublisher Class Reference

Pose publisher system. Attach to an entity to publish the transform of its child entities in the form of gz::msgs::Pose messages, or a single gz::msgs::Pose_V message if "use_pose_vector_msg" is true. More...

#include <PosePublisher.hh>

Public Member Functions
	PosePublisher ()
	Constructor.
	~PosePublisher () override=default
	Destructor.
void	Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
	Configure the system.
void	PostUpdate (const UpdateInfo &_info, const EntityComponentManager &_ecm) override
Public Member Functions inherited from System
	System ()=default
	Constructor.
virtual	~System ()=default
	Destructor.

Additional Inherited Members
Public Types inherited from System
using	PriorityType = int32_t
	Signed integer type used for specifying priority of the execution order of PreUpdate and Update phases.
Static Public Attributes inherited from System
static constexpr PriorityType	kDefaultPriority = {0}
	Default priority value for execution order of the PreUpdate and Update phases.
static constexpr std::string_view	kPriorityElementName
	Name of the XML element from which the priority value will be parsed.

Detailed Description

Pose publisher system. Attach to an entity to publish the transform of its child entities in the form of gz::msgs::Pose messages, or a single gz::msgs::Pose_V message if "use_pose_vector_msg" is true.

System Parameters

• <publish_link_pose>: Set to true to publish link pose
• <publish_visual_pose>: Set to true to publish visual pose
• <publish_collision_pose>: Set to true to publish collision pose
• <publish_sensor_pose>: Set to true to publish sensor pose
• <publish_model_pose>: Set to true to publish model pose.
• <publish_nested_model_pose>: Set to true to publish nested model pose. The pose of the model that contains this system is also published unless publish_model_pose is set to false
• <use_pose_vector_msg>: Set to true to publish a gz::msgs::Pose_V message instead of mulitple gz::msgs::Pose messages.
• <update_frequency>: Frequency of pose publications in Hz. A negative frequency publishes as fast as possible (i.e, at the rate of the simulation step)
• <static_publisher>: Set to true to publish static poses on a "<scoped_entity_name>/pose_static" topic. This will cause only dynamic poses to be published on the "<scoped_entity_name>/pose" topic.
• <static_update_frequency>: Frequency of static pose publications in Hz. A negative frequency publishes as fast as possible (i.e, at the rate of the simulation step).

Constructor & Destructor Documentation

PosePublisher()

PosePublisher

(

)

Constructor.

~PosePublisher()

~PosePublisher ( )

overridedefault

Destructor.

Member Function Documentation

Configure()

void Configure ( const Entity &  _entity, const std::shared_ptr< const sdf::Element > &  _sdf, EntityComponentManager &  _ecm, EventManager &  _eventMgr  )

overridevirtual

Configure the system.

Parameters

[in]	_entity	The entity this plugin is attached to.
[in]	_sdf	The SDF Element associated with this system plugin.
[in]	_ecm	The EntityComponentManager of the given simulation instance.
[in]	_eventMgr	The EventManager of the given simulation instance.

Implements ISystemConfigure.

PostUpdate()

void PostUpdate ( const UpdateInfo &  _info, const EntityComponentManager &  _ecm  )

overridevirtual

Implements ISystemPostUpdate.

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The documentation for this class was generated from the following file:

• PosePublisher.hh