79 lines
2.4 KiB
C++
79 lines
2.4 KiB
C++
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/*
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* Copyright (C) 2015 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_TRANSPORTER_PLUGIN_PRIVATE_HH_
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#define _GAZEBO_TRANSPORTER_PLUGIN_PRIVATE_HH_
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#include <map>
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#include <string>
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#include <mutex>
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#include <memory>
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#include <gazebo/transport/Node.hh>
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#include <gazebo/transport/Subscriber.hh>
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namespace gazebo
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{
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class TransporterPluginPrivate
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{
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/// \brief Definition of a transported pad
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public: class Pad
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{
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/// \brief Name of the pad.
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public: std::string name;
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/// \brief Name of the destination pad.
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public: std::string dest;
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/// \brief Pose of the incoming pad. This is where incoming models
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/// appear.
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public: math::Pose incomingPose;
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/// \brief Box that defines the activation region of the transporter.
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public: math::Box outgoingBox;
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/// \brief True if the pad should automatically teleport.
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/// False will cause the pad to wait for an activation
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/// signal. See this plugin's <activation_topic> xml element.
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public: bool autoActivation;
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/// \brief This flag is used for manual activation of a pad.
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/// It is set to true when a string message that contains
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/// the name of the pad is sent over the activation topic.
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public: bool activated = false;
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};
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/// \brief World pointer.
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public: physics::WorldPtr world;
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/// \brief Map of all the transporter pads
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public: std::map<std::string, std::shared_ptr<Pad> > pads;
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/// \brief Pointer to the update event connection
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public: event::ConnectionPtr updateConnection;
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/// \brief Node for communication.
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public: transport::NodePtr node;
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/// \brief Subscriber to the activation topic.
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public: transport::SubscriberPtr activationSub;
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/// \brief Mutex to protect pad data.
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public: std::mutex padMutex;
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};
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}
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#endif
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