ContainPlugin.hh
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1/*
2 * Copyright (C) 2018 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17
18#ifndef GAZEBO_PLUGINS_CONTAINPLUGIN_HH_
19#define GAZEBO_PLUGINS_CONTAINPLUGIN_HH_
20
21#include <memory>
22
24#include "gazebo/msgs/msgs.hh"
25
26namespace gazebo
27{
28 class ContainPluginPrivate;
29
69 class GZ_PLUGIN_VISIBLE ContainPlugin : public WorldPlugin
70 {
71 // Documentation inherited
72 public: ContainPlugin();
73
74 // Documentation inherited
75 public: void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf) override;
76
79 private: void OnUpdate(const common::UpdateInfo &_info);
80
85 private: bool Enable(const bool _enable);
86
91 // cppcheck-suppress unusedPrivateFunction
92 private: bool EnableIgn(const ignition::msgs::Boolean &_req,
93 ignition::msgs::Boolean &_res);
94
97 private: void PublishContains(bool _contains);
98
100 private: std::unique_ptr<ContainPluginPrivate> dataPtr;
101 };
102}
103
104#endif
Plugin which emits Ignition Transport messages according to whether an entity's origin is inside or o...
Definition ContainPlugin.hh:70
void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf) override
Load function.
A plugin with access to physics::World.
Definition Plugin.hh:279
Information for use in an update event.
Definition UpdateInfo.hh:31
boost::shared_ptr< World > WorldPtr
Definition PhysicsTypes.hh:89
Forward declarations for the common classes.
Definition Animation.hh:27