95 lines
3.1 KiB
C++
95 lines
3.1 KiB
C++
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/*
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* Copyright (C) 2018 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_PLUGINS_CONTAINPLUGIN_HH_
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#define GAZEBO_PLUGINS_CONTAINPLUGIN_HH_
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#include <memory>
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#include "gazebo/common/Plugin.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 ContainPluginPrivate;
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/// \brief Plugin which emits gazebo transport messages according to whether
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/// an entity's origin is inside or outside a given volume. A message is only
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/// published when the state changes.
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///
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/// Example usage:
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///
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/// <plugin name="containRobotArm" filename="libContainPlugin.so">
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///
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/// <!-- True to enable automatically, false so it must be enabled
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/// via a message - true by default -->
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/// <enabled>true</enabled>
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///
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/// <!-- Scoped name of entity to check -->
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/// <entity>robot::arm_link</entity>
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///
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/// <!-- Namespace for gazebo transport topic and service:
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/// /<namespace>/box/contains : topic where true / false messages
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/// are published.
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/// /<namespace>/box/enable : service to turn plugin on and off.
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/// -->
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/// <namespace>gazebo/robot</namespace>
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///
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/// <!-- Pose of the geometry's center point in world coordinates -->
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/// <pose>10 10 2 0 0 1.57</pose>
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///
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/// <!-- OR Pose of the geometry's center in link frame coordinates -->
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/// <pose frame="model_name::link_name">10 10 2 0 0 1.57</pose>
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///
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/// <!-- Geometry of the volume to check, uses the SDF geometry spec:
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/// http://sdformat.org/spec?ver=1.6&elem=geometry
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/// currently <box> is supported -->
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/// <geometry>
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/// <box>
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/// <size>1 1 4</size>
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/// </box>
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/// </geometry>
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///
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/// </plugin>
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///
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class GAZEBO_VISIBLE ContainPlugin : public WorldPlugin
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{
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// Documentation inherited
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public: ContainPlugin();
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// Documentation inherited
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public: void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf) override;
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/// \brief Called every world iteration on world update begin.
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/// \param[in] _info Update info.
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private: void OnUpdate(const common::UpdateInfo &_info);
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/// \brief Callback for enable "service".
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/// \param[in] _msg Message with 0 to disable and 1 to enable the plugin.
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private: void Enable(ConstIntPtr &_msg);
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/// \brief Publish a message indicating if the box contains an entity
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/// \param[in] _contains True if the geometry contains the target
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private: void PublishContains(bool _contains);
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/// \brief Pointer to private data
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private: std::unique_ptr<ContainPluginPrivate> dataPtr;
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};
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}
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#endif
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