TouchPlugin.hh
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1/*
2 * Copyright (C) 2017 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#ifndef GAZEBO_PLUGINS_TOUCHPLUGIN_HH_
18#define GAZEBO_PLUGINS_TOUCHPLUGIN_HH_
19
20#include <string>
21#include <vector>
26#include <sdf/sdf.hh>
27
28namespace gazebo
29{
60 class GZ_PLUGIN_VISIBLE TouchPlugin : public ModelPlugin
61 {
63 public: TouchPlugin();
64
65 // Documentation inherited
66 public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
67
70 public: void Enable(ConstIntPtr &_msg);
71
74 private: void OnUpdate(const common::UpdateInfo &_info);
75
77 private: std::vector<sensors::ContactSensorPtr> contactSensors;
78
80 private: std::string modelName;
81
84 private: std::string target;
85
87 private: std::string ns;
88
90 private: common::Time targetTime = 5;
91
93 private: common::Time touchStart;
94
96 private: transport::NodePtr gzNode;
97
99 private: transport::PublisherPtr touchedPub;
100
102 private: transport::SubscriberPtr enableSub;
103
105 private: event::ConnectionPtr updateConnection;
106 };
107}
108
109#endif
110
A plugin with access to physics::Model.
Definition Plugin.hh:304
Plugin which checks if this model has touched some specific target for a given time continuously and ...
Definition TouchPlugin.hh:61
TouchPlugin()
Constructor.
virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
Load function.
void Enable(ConstIntPtr &_msg)
Callback for enable "service".
A Time class, can be used to hold wall- or sim-time.
Definition Time.hh:48
Information for use in an update event.
Definition UpdateInfo.hh:31
boost::shared_ptr< Connection > ConnectionPtr
Definition CommonTypes.hh:134
boost::shared_ptr< Model > ModelPtr
Definition PhysicsTypes.hh:93
boost::shared_ptr< Subscriber > SubscriberPtr
Definition TransportTypes.hh:53
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