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ContainPlugin.hh
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/*
* Copyright (C) 2018 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef GAZEBO_PLUGINS_CONTAINPLUGIN_HH_
#define GAZEBO_PLUGINS_CONTAINPLUGIN_HH_
#include <memory>
#include "gazebo/common/Plugin.hh"
#include "gazebo/msgs/msgs.hh"
namespace gazebo
{
class ContainPluginPrivate;
class GAZEBO_VISIBLE ContainPlugin : public WorldPlugin
{
// Documentation inherited
public: ContainPlugin();
// Documentation inherited
public: void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf) override;
private: void OnUpdate(const common::UpdateInfo &_info);
private: bool Enable(const bool _enable);
// cppcheck-suppress unusedPrivateFunction
private: bool EnableIgn(const ignition::msgs::Boolean &_req,
ignition::msgs::Boolean &_res);
private: void PublishContains(bool _contains);
private: std::unique_ptr<ContainPluginPrivate> dataPtr;
};
}
#endif
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
msgs.hh
gazebo::WorldPlugin
A plugin with access to physics::World. See reference.
Definition: Plugin.hh:278
gazebo::physics::WorldPtr
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
gazebo::ContainPlugin
Plugin which emits Ignition Transport messages according to whether an entity's origin is inside or o...
Definition: ContainPlugin.hh:69
Plugin.hh
gazebo::common::UpdateInfo
Information for use in an update event.
Definition: UpdateInfo.hh:30
GAZEBO_VISIBLE
#define GAZEBO_VISIBLE
Definition: system.hh:59