Plugin which publishes a message if the model it is attached to has touched one or more specified targets continuously during a given time. More...

Public Member Functions
	TouchPlugin ()
	Constructor.

	~TouchPlugin () 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

void	PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) final
	Documentation inherited.

void	Reset (const UpdateInfo &_info, EntityComponentManager &_ecm) final

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

Plugin which publishes a message if the model it is attached to has touched one or more specified targets continuously during a given time.

After publishing, the plugin is disabled. It can be re-enabled through a Gazebo Transport service call.

The plugin requires that a contact sensors is placed in at least one link on the model on which this plugin is attached.

System Parameters

<target> Name, or substring of a name, that identifies the target collision entity/entities. This value is searched in the scoped name of all collision entities, so it can possibly match more than one collision. For example, using the name of a model will match all of its collisions (scoped name /model_name/link_name/collision_name).
<time> Target time in seconds to maintain contact.
<namespace> Namespace for transport topics/services:
- /<namespace>/enable : Service used to enable and disable the plugin.
- /<namespace>/touched : Topic where a message is published once the touch event occurs.
<enabled> Set this to true so the plugin works from the start and doesn't need to be enabled.

TouchPlugin ( )

Constructor.

~TouchPlugin ( )

overridedefault

Destructor.

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.