WorldPlugin Class Referenceabstract

A plugin with access to physics::World. More...

#include <common/common.hh>

Inherits PluginT< WorldPlugin >.

Inherited by ArrangePlugin, ContainPlugin, JoyPlugin, MisalignmentPlugin, RazerHydra, RubblePlugin, SimEventsPlugin, StaticMapPlugin, TransporterPlugin, and WindPlugin.

Public Types

typedef boost::shared_ptr< WorldPluginTPtr
 plugin pointer type definition
 

Public Member Functions

 WorldPlugin ()
 Constructor.
 
virtual ~WorldPlugin ()
 Destructor.
 
std::string GetFilename () const
 Get the name of the handler.
 
std::string GetHandle () const
 Get the short name of the handler.
 
PluginType GetType () const
 Returns the type of the plugin.
 
virtual void Init ()
 
virtual void Load (physics::WorldPtr _world, sdf::ElementPtr _sdf)=0
 Load function.
 
virtual void Reset ()
 

Static Public Member Functions

static TPtr Create (const std::string &_filename, const std::string &_name)
 a class method that creates a plugin from a file name.
 

Protected Member Functions

void LoadParam (const sdf::ElementPtr &_sdf, const std::string &_name, V &_target, V _defaultValue=V()) const
 Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.
 
void LoadParam (sdf::ElementPtr &_sdf, const std::string &_name, std::string &_target, const char *_defaultValue) const
 Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.
 

Protected Attributes

std::string filename
 Path to the shared library file.
 
std::string handleName
 Short name.
 
PluginType type
 Type of plugin.
 

Detailed Description

A plugin with access to physics::World.

See reference.

Member Typedef Documentation

◆ TPtr

typedef boost::shared_ptr<WorldPlugin > TPtr
inherited

plugin pointer type definition

Constructor & Destructor Documentation

◆ WorldPlugin()

WorldPlugin ( )
inline

Constructor.

References PluginT< WorldPlugin >::type, and gazebo::WORLD_PLUGIN.

◆ ~WorldPlugin()

virtual ~WorldPlugin ( )
inlinevirtual

Destructor.

Member Function Documentation

◆ Create()

static TPtr Create ( const std::string & _filename,
const std::string & _name )
inlinestaticinherited

a class method that creates a plugin from a file name.

It locates the shared library and loads it dynamically.

Parameters
[in]_filenamethe path to the shared library.
[in]_nameshort name of the plugin
Returns
Shared Pointer to this class type

◆ GetFilename()

std::string GetFilename ( ) const
inlineinherited

Get the name of the handler.

◆ GetHandle()

std::string GetHandle ( ) const
inlineinherited

Get the short name of the handler.

◆ GetType()

PluginType GetType ( ) const
inlineinherited

Returns the type of the plugin.

Returns
type of the plugin

◆ Init()

virtual void Init ( )
inlinevirtual

◆ Load()

virtual void Load ( physics::WorldPtr _world,
sdf::ElementPtr _sdf )
pure virtual

Load function.

Called when a Plugin is first created, and after the World has been loaded. This function should not be blocking.

Parameters
[in]_worldPointer the World
[in]_sdfPointer the the SDF element of the plugin.

Implemented in ArrangePlugin, SimEventsPlugin, RazerHydra, RubblePlugin, StaticMapPlugin, TransporterPlugin, WindPlugin, ContainPlugin, JoyPlugin, and MisalignmentPlugin.

◆ LoadParam() [1/2]

void LoadParam ( const sdf::ElementPtr & _sdf,
const std::string & _name,
V & _target,
V _defaultValue = V() ) const
inlineprotectedinherited

Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.

A message is written using gzmsg reporting whether the default value was used or not.

Parameters
[in]_sdfThe SDF element of the plugin.
[in]_nameName of a tag inside the SDF.
[out]_targetThe reference to store the param value to.
[in]_defaultValueThe default value.

◆ LoadParam() [2/2]

void LoadParam ( sdf::ElementPtr & _sdf,
const std::string & _name,
std::string & _target,
const char * _defaultValue ) const
inlineprotectedinherited

Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.

A message is written using gzmsg reporting whether the default value was used or not. String specialization to allow accepting const char* values for std::string parameters.

Parameters
[in]_sdfThe SDF element of the plugin.
[in]_nameName of a tag inside the SDF.
[out]_targetThe reference to store the param value to.
[in]_defaultValueThe default value.

◆ Reset()

virtual void Reset ( )
inlinevirtual

Reimplemented in ArrangePlugin.

Member Data Documentation

◆ filename

std::string filename
protectedinherited

Path to the shared library file.

◆ handleName

std::string handleName
protectedinherited

Short name.

◆ type

PluginType type
protectedinherited

Type of plugin.


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