ContactPlugin.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#ifndef GAZEBO_PLUGINS_CONTACTPLUGIN_HH_
19#define GAZEBO_PLUGINS_CONTACTPLUGIN_HH_
20
21#include <string>
22
24#include <gazebo/sensors/sensors.hh>
25#include "gazebo/util/system.hh"
26
27namespace gazebo
28{
31 class GZ_PLUGIN_VISIBLE ContactPlugin : public SensorPlugin
32 {
34 public: ContactPlugin();
35
37 public: virtual ~ContactPlugin();
38
42 public: virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
43
47 private: virtual void OnUpdate();
48
50 private: sensors::ContactSensorPtr parentSensor;
51
54 private: event::ConnectionPtr updateConnection;
55 };
56}
57#endif
A plugin for a contact sensor.
Definition ContactPlugin.hh:32
virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf)
Load the sensor plugin.
ContactPlugin()
Constructor.
virtual ~ContactPlugin()
Destructor.
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
Forward declarations for the common classes.
Definition Animation.hh:27