SimEventsPlugin.hh
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1/*
2 * Copyright (C) 2014 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.k *
15*/
16
17#ifndef GAZEBO_PLUGINS_SIMEVENTSPLUGIN_HH_
18#define GAZEBO_PLUGINS_SIMEVENTSPLUGIN_HH_
19
20#include <iostream>
21#include <map>
22#include <set>
23#include <string>
24#include <vector>
25
26#include "SimEventsException.hh"
28
29namespace gazebo
30{
32 {
34 public: virtual ~SimEventsPlugin();
35
39 public: void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf);
40
42 public: void Init();
43
45 public: void Update();
46
49 private: void OnModelInfo(ConstModelPtr &_msg);
50
53 private: void OnRequest(ConstRequestPtr &_msg);
54
56 private: physics::WorldPtr world;
57
59 private: sdf::ElementPtr sdf;
60
62 private: std::map<std::string, RegionPtr> regions;
63
65 private: std::vector<EventSourcePtr> events;
66
68 private: transport::NodePtr node;
69
71 private: transport::PublisherPtr pub;
72
74 private: transport::SubscriberPtr spawnSub;
75
77 private: std::set<std::string> models;
78
80 private: transport::SubscriberPtr requestSub;
81 };
82}
83
84#endif
Definition SimEventsPlugin.hh:32
void Init()
Called upon initialization.
void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf)
Called when the world file is loaded.
virtual ~SimEventsPlugin()
Destrutor.
void Update()
Called every simulation step.
A plugin with access to physics::World.
Definition Plugin.hh:279
boost::shared_ptr< World > WorldPtr
Definition PhysicsTypes.hh:89
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