##

ArrangePlugin Class Reference

`#include <ArrangePlugin.hh>`

Inherits WorldPlugin.

## Classes

class | Object
| Class to store info about each object. More...

## Public Types

typedef boost::shared_ptr< WorldPlugin > | TPtr
| plugin pointer type definition More...

## Public Member Functions

| ArrangePlugin ()
| Constructor. More...
| ~ArrangePlugin ()
| Destructor. More...
void | ArrangementCallback (ConstGzStringPtr &_msg)
| Callback function which receives a requested arrangement name. More...
std::string | GetFilename () const
| Get the name of the handler. More...
std::string | GetHandle () const
| Get the short name of the handler. More...
PluginType | GetType () const
| Returns the type of the plugin. More...
virtual void | Init ()
| Initialize the plugin. More...
virtual void | Load (physics::WorldPtr _world, sdf::ElementPtr _sdf)
| Load the plugin. More...
virtual void | Reset ()
| Reset the plugin. More...
bool | SetArrangement (const std::string &_arrangement)
| Set up the arrangement with name given by input parameter. More...

## Static Public Member Functions

static TPtr | Create (const std::string &_filename, const std::string &_name)
| a class method that creates a plugin from a file name. More...

## Protected Types

typedef std::map< std::string, Pose_M > | Arrangement_M
| Map of strings to Pose_M (arrangement map). More...
typedef std::map< std::string, ObjectPtr > | Object_M
| Map of strings to model pointers. More...
typedef std::shared_ptr< Object > | ObjectPtr
typedef std::map< std::string, ignition::math::Pose3d > | Pose_M
| Map of strings to model poses. More...

## Protected Member Functions

void | LoadParam (const sdf::ElementPtr &_sdf, const std::string &_name, V &_target, V _defaultValue=V()) const
| Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found. More...
void | LoadParam (sdf::ElementPtr &_sdf, const std::string &_name, std::string &_target, const char *_defaultValue) const
| Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found. More...

## Protected Attributes

Arrangement_M | arrangements
| Information about arrangements. More...
std::string | currentArrangementName
| Current arrangement name. More...
std::string | eventTopicName
| Topic to listen on for changing arrangments. More...
std::string | filename
| Path to the shared library file. More...
std::string | handleName
| Short name. More...
std::string | initialArrangementName
| Initial arrangement name. More...
transport::NodePtr | node
| Node for Gazebo transport. More...
ignition::transport::Node | nodeIgn
| Ignition node for Gazebo transport. More...
Object_M | objects
| Collection of models. More...
sdf::ElementPtr | sdf
| SDF pointer. More...
transport::SubscriberPtr | sub
| Subscriber for listening to changing arrangements. More...
PluginType | type
| Type of plugin. More...
physics::WorldPtr | world
| World pointer. More...

## Member Typedef Documentation

## Arrangement_M

typedef std::map<std::string, Pose_M> Arrangement_M

protected

Map of strings to Pose_M (arrangement map).

## Object_M

typedef std::map<std::string, ObjectPtr> Object_M

protected

Map of strings to model pointers.

## ObjectPtr

typedef std::shared_ptr<Object> ObjectPtr

protected

## Pose_M

typedef std::map<std::string, ignition::math::Pose3d> Pose_M

protected

Map of strings to model poses.

## TPtr

typedef boost::shared_ptr<WorldPlugin > TPtr

inherited

plugin pointer type definition

## Constructor & Destructor Documentation

## ArrangePlugin()

ArrangePlugin | ( |  | ) |

Constructor.

## ~ArrangePlugin()

~ArrangePlugin | ( |  | ) |

Destructor.

## Member Function Documentation

## ArrangementCallback()

void ArrangementCallback | ( | ConstGzStringPtr & | _msg | ) |

Callback function which receives a requested arrangement name.

## Create()

static TPtr Create | ( | const std::string & | _filename,
|  | const std::string & | _name
| ) |  |

inline static inherited

a class method that creates a plugin from a file name.

It locates the shared library and loads it dynamically.

Parameters

  [in] | _filename | the path to the shared library.
  [in] | _name | short name of the plugin

Returns
  Shared Pointer to this class type

## GetFilename()

std::string GetFilename | ( |  | ) | const

inline inherited

Get the name of the handler.

## GetHandle()

std::string GetHandle | ( |  | ) | const

inline inherited

Get the short name of the handler.

## GetType()

PluginType GetType | ( |  | ) | const

inline inherited

Returns the type of the plugin.

Returns
  type of the plugin

## Init()

virtual void Init | ( |  | ) |

virtual

Initialize the plugin.

Reimplemented from WorldPlugin.

## Load()

virtual void Load | ( | physics::WorldPtr | _world,
|  | sdf::ElementPtr | _sdf
| ) |  |

virtual

Load the plugin.

Parameters

  [in] | _world | Pointer to world
  [in] | _sdf | Pointer to the SDF configuration.

Implements WorldPlugin.

## LoadParam() [1/2]

void LoadParam | ( | const sdf::ElementPtr & | _sdf,
|  | const std::string & | _name,
|  | V & | _target,
|  | V | _defaultValue = `V()`
| ) |  | const

inline protected inherited

Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.

A message is written using gzmsg reporting whether the default value was used or not.

Parameters

  [in] | _sdf | The SDF element of the plugin.
  [in] | _name | Name of a tag inside the SDF.
  [out] | _target | The reference to store the param value to.
  [in] | _defaultValue | The default value.

## LoadParam() [2/2]

void LoadParam | ( | sdf::ElementPtr & | _sdf,
|  | const std::string & | _name,
|  | std::string & | _target,
|  | const char * | _defaultValue
| ) |  | const

inline protected inherited

Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.

A message is written using gzmsg reporting whether the default value was used or not. String specialization to allow accepting const char* values for std::string parameters.

Parameters

  [in] | _sdf | The SDF element of the plugin.
  [in] | _name | Name of a tag inside the SDF.
  [out] | _target | The reference to store the param value to.
  [in] | _defaultValue | The default value.

## Reset()

virtual void Reset | ( |  | ) |

virtual

Reset the plugin.

Reimplemented from WorldPlugin.

## SetArrangement()

bool SetArrangement | ( | const std::string & | _arrangement | ) |

Set up the arrangement with name given by input parameter.

Parameters

  [in] | _arrangement | Name of arrangement.

Returns
  True if arrangement was set successfully.

## Member Data Documentation

## arrangements

Arrangement_M arrangements

protected

Information about arrangements.

## currentArrangementName

std::string currentArrangementName

protected

Current arrangement name.

## eventTopicName

std::string eventTopicName

protected

Topic to listen on for changing arrangments.

## filename

std::string filename

protected inherited

Path to the shared library file.

## handleName

std::string handleName

protected inherited

Short name.

## initialArrangementName

std::string initialArrangementName

protected

Initial arrangement name.

## node

transport::NodePtr node

protected

Node for Gazebo transport.

## nodeIgn

ignition::transport::Node nodeIgn

protected

Ignition node for Gazebo transport.

## objects

Object_M objects

protected

Collection of models.

## sdf

sdf::ElementPtr sdf

protected

SDF pointer.

## sub

transport::SubscriberPtr sub

protected

Subscriber for listening to changing arrangements.

## type

PluginType type

protected inherited

Type of plugin.

## world

physics::WorldPtr world

protected

World pointer.

The documentation for this class was generated from the following file:

- ArrangePlugin.hh