113 lines
3.3 KiB
C++
113 lines
3.3 KiB
C++
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/*
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* Copyright (C) 2014 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_ARRANGE_PLUGIN_HH_
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#define _GAZEBO_ARRANGE_PLUGIN_HH_
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#include <map>
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#include <string>
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#include <boost/shared_ptr.hpp>
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#include <sdf/sdf.hh>
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#include <gazebo/common/Plugin.hh>
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#include <gazebo/transport/transport.hh>
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#include <gazebo/math/Pose.hh>
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#include <gazebo/physics/PhysicsTypes.hh>
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#include <gazebo/util/system.hh>
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#include <gazebo/msgs/msgs.hh>
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namespace gazebo
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{
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class GAZEBO_VISIBLE ArrangePlugin : public WorldPlugin
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{
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/// \brief Constructor.
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public: ArrangePlugin();
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/// \brief Destructor.
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public: ~ArrangePlugin();
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/// \brief Load the plugin.
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/// \param[in] _world Pointer to world
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/// \param[in] _sdf Pointer to the SDF configuration.
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public: virtual void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf);
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/// \brief Initialize the plugin.
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public: virtual void Init();
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/// \brief Reset the plugin.
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public: virtual void Reset();
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/// \brief Set up the arrangement with name given by input parameter.
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/// \param[in] _arrangement Name of arrangement.
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/// \return True if arrangement was set successfully.
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public: bool SetArrangement(const std::string &_arrangement);
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/// \brief Callback function which receives a requested arrangement name.
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public: void ArrangementCallback(ConstGzStringPtr &_msg);
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/// \brief World pointer.
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protected: physics::WorldPtr world;
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/// \brief SDF pointer.
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protected: sdf::ElementPtr sdf;
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/// \brief Class to store info about each object.
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protected: class Object
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{
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/// \brief Model pointer.
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public: physics::ModelPtr model;
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/// \brief Initial object pose.
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public: math::Pose pose;
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};
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typedef boost::shared_ptr<Object> ObjectPtr;
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/// \brief Map of strings to model pointers.
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typedef std::map<std::string, ObjectPtr> Object_M;
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/// \brief Collection of models.
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protected: Object_M objects;
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/// \brief Map of strings to model poses.
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typedef std::map<std::string, math::Pose> Pose_M;
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/// \brief Map of strings to Pose_M (arrangement map).
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typedef std::map<std::string, Pose_M> Arrangement_M;
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/// \brief Information about arrangements.
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protected: Arrangement_M arrangements;
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/// \brief Initial arrangement name.
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protected: std::string initialArrangementName;
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/// \brief Current arrangement name.
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protected: std::string currentArrangementName;
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/// \brief Topic to listen on for changing arrangments.
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protected: std::string eventTopicName;
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/// \brief Node for Gazebo transport.
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protected: transport::NodePtr node;
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/// \brief Subscriber for listening to changing arrangements.
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protected: transport::SubscriberPtr sub;
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};
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}
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#endif
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