18#ifndef GAZEBO_PLUGINS_ARRANGEPLUGIN_HH_
19#define GAZEBO_PLUGINS_ARRANGEPLUGIN_HH_
26#include <ignition/math/Pose3.hh>
27#include <ignition/transport/Node.hh>
30#include <gazebo/transport/transport.hh>
51 public:
virtual void Init();
68 protected: sdf::ElementPtr
sdf;
77 public: ignition::math::Pose3d
pose;
82 typedef std::map<std::string, ObjectPtr>
Object_M;
88 typedef std::map<std::string, ignition::math::Pose3d>
Pose_M;
default namespace for gazebo
Class to store info about each object.
Definition ArrangePlugin.hh:72
ignition::math::Pose3d pose
Initial object pose.
Definition ArrangePlugin.hh:77
physics::ModelPtr model
Model pointer.
Definition ArrangePlugin.hh:74
Definition ArrangePlugin.hh:38
ArrangePlugin()
Constructor.
physics::WorldPtr world
World pointer.
Definition ArrangePlugin.hh:65
std::map< std::string, Pose_M > Arrangement_M
Map of strings to Pose_M (arrangement map).
Definition ArrangePlugin.hh:91
virtual void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf)
Load the plugin.
Arrangement_M arrangements
Information about arrangements.
Definition ArrangePlugin.hh:94
std::map< std::string, ObjectPtr > Object_M
Map of strings to model pointers.
Definition ArrangePlugin.hh:82
~ArrangePlugin()
Destructor.
virtual void Init()
Initialize the plugin.
std::shared_ptr< Object > ObjectPtr
Definition ArrangePlugin.hh:79
virtual void Reset()
Reset the plugin.
transport::SubscriberPtr sub
Subscriber for listening to changing arrangements.
Definition ArrangePlugin.hh:109
bool SetArrangement(const std::string &_arrangement)
Set up the arrangement with name given by input parameter.
transport::NodePtr node
Node for Gazebo transport.
Definition ArrangePlugin.hh:106
ignition::transport::Node nodeIgn
Ignition node for Gazebo transport.
Definition ArrangePlugin.hh:115
std::string eventTopicName
Topic to listen on for changing arrangments.
Definition ArrangePlugin.hh:103
sdf::ElementPtr sdf
SDF pointer.
Definition ArrangePlugin.hh:68
Object_M objects
Collection of models.
Definition ArrangePlugin.hh:85
std::string currentArrangementName
Current arrangement name.
Definition ArrangePlugin.hh:100
void ArrangementCallback(ConstGzStringPtr &_msg)
Callback function which receives a requested arrangement name.
std::string initialArrangementName
Initial arrangement name.
Definition ArrangePlugin.hh:97
std::map< std::string, ignition::math::Pose3d > Pose_M
Map of strings to model poses.
Definition ArrangePlugin.hh:88
A plugin with access to physics::World.
Definition Plugin.hh:279
boost::shared_ptr< World > WorldPtr
Definition PhysicsTypes.hh:89
boost::shared_ptr< Model > ModelPtr
Definition PhysicsTypes.hh:93
boost::shared_ptr< Subscriber > SubscriberPtr
Definition TransportTypes.hh:53
boost::shared_ptr< Node > NodePtr
Definition TransportTypes.hh:57
Forward declarations for the common classes.
Definition Animation.hh:27