PressurePlugin.hh
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1/*
2 * Copyright (C) 2012 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 * Desc: Pressure Sensor Plugin
19 * Author: Steve Peters
20 */
21
22#ifndef GAZEBO_PLUGINS_PRESSUREPLUGIN_HH_
23#define GAZEBO_PLUGINS_PRESSUREPLUGIN_HH_
24
25#include <map>
26#include <string>
27#include <ignition/transport/Node.hh>
28
30#include <gazebo/sensors/sensors.hh>
31#include <gazebo/transport/transport.hh>
32#include "gazebo/util/system.hh"
33
34namespace gazebo
35{
42 class GZ_PLUGIN_VISIBLE PressurePlugin : public SensorPlugin
43 {
45 public: PressurePlugin();
46
48 public: virtual ~PressurePlugin();
49
50 // Documentation inherited.
51 public: virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
52
53 // Documentation inherited.
54 public: virtual void Init();
55
57 private: virtual void OnUpdate();
58
60 private: sensors::ContactSensorPtr parentSensor;
61
64 private: event::ConnectionPtr updateConnection;
65
67 private: transport::NodePtr node;
68
70 private: transport::PublisherPtr tactilePub;
71
73 private: std::string worldName;
74
76 private: std::string parentSensorName;
77
79 private: std::map<std::string, double> collisionNamesToArea;
80
81 // Place ignition::transport objects at the end of this file to
82 // guarantee they are destructed first.
83
85 private: ignition::transport::Node nodeIgn;
86
88 private: ignition::transport::Node::Publisher tactilePubIgn;
89 };
90}
91#endif
A plugin for a tactile pressure sensor.
Definition PressurePlugin.hh:43
virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf)
Load function.
virtual ~PressurePlugin()
Destructor.
virtual void Init()
Override this method for custom plugin initialization behavior.
PressurePlugin()
Constructor.
A plugin with access to physics::Sensor.
Definition Plugin.hh:333
boost::shared_ptr< Connection > ConnectionPtr
Definition CommonTypes.hh:134
std::shared_ptr< ContactSensor > ContactSensorPtr
Definition SensorTypes.hh:92
std::shared_ptr< Sensor > SensorPtr
Definition SensorTypes.hh:64
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