18#ifndef GAZEBO_PHYSICS_CONTACTMANAGER_HH_
19#define GAZEBO_PHYSICS_CONTACTMANAGER_HH_
24#include <ignition/transport/Node.hh>
26#include <boost/unordered/unordered_set.hpp>
27#include <boost/unordered/unordered_map.hpp>
28#include <boost/thread/recursive_mutex.hpp>
174 const std::vector<std::string> &_collisions);
182 const std::string &_collision);
191 const std::map<std::string, physics::CollisionPtr>
214 private:
void GetCustomPublishers(
Collision *_collision1,
215 Collision *_collision2,
const bool _getOnlyConnected,
216 std::vector<ContactPublisher*> &_publishers);
218 private: std::vector<Contact*> contacts;
220 private:
unsigned int contactIndex;
233 private: boost::unordered_map<std::string, ContactPublisher *>
234 customContactPublishers;
237 private: boost::recursive_mutex *customMutex;
243 private: ignition::transport::Node nodeIgn;
246 private: ignition::transport::Node::Publisher contactPubIgn;
251 private:
bool neverDropContacts;
default namespace for gazebo
Forward declarations for transport.
A Time class, can be used to hold wall- or sim-time.
Definition Time.hh:48
Base class for all collision entities.
Definition Collision.hh:39
boost::shared_ptr< World > WorldPtr
Definition PhysicsTypes.hh:89
boost::shared_ptr< Publisher > PublisherPtr
Definition TransportTypes.hh:49
boost::shared_ptr< Node > NodePtr
Definition TransportTypes.hh:57
Forward declarations for the common classes.
Definition Animation.hh:27