79 lines
2.4 KiB
C++
79 lines
2.4 KiB
C++
/*
|
|
* Copyright (C) 2014 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_EVENTS_INREGIONEVENTSOURCE_HH_
|
|
#define _GAZEBO_PLUGINS_EVENTS_INREGIONEVENTSOURCE_HH_
|
|
|
|
#include <map>
|
|
#include <string>
|
|
#include <vector>
|
|
|
|
#include "plugins/events/Region.hh"
|
|
#include "plugins/events/EventSource.hh"
|
|
|
|
namespace gazebo
|
|
{
|
|
/// \brief The event generator class
|
|
class InRegionEventSource: public EventSource
|
|
{
|
|
/// \brief Constructor
|
|
/// \param[in] _pub the publisher for the SimEvents
|
|
/// \param[in] _world Pointer to the world.
|
|
/// \param[in] _regions dictionary of regions in the world
|
|
public: InRegionEventSource(transport::PublisherPtr _pub,
|
|
physics::WorldPtr _world,
|
|
const std::map<std::string, RegionPtr> &_regions);
|
|
|
|
/// \brief Initialize the event
|
|
public: virtual void Init();
|
|
|
|
/// \brief Called every simulation step
|
|
public: void Update();
|
|
|
|
/// \brief Prints data about the event source to the log (useful for debug)
|
|
public: void Info() const;
|
|
|
|
/// \brief Loads the full name of the model and the region from the world
|
|
/// file.
|
|
/// \param[in] _sdf
|
|
public: virtual void Load(const sdf::ElementPtr _sdf);
|
|
|
|
/// \brief Pointer to the update event connection
|
|
private: event::ConnectionPtr updateConnection;
|
|
|
|
/// \brief The model used for the in region check.
|
|
private: std::string modelName;
|
|
|
|
/// \brief A pointer to the model
|
|
/// looked up at initialization, to avoid doing lookups during updates
|
|
private: physics::ModelPtr model;
|
|
|
|
/// \brief The region used for the in region check.
|
|
private: std::string regionName;
|
|
|
|
/// \brief The region pointer
|
|
private: RegionPtr region;
|
|
|
|
/// \brief A map of region names to region pointers.
|
|
private: const std::map<std::string, RegionPtr> ®ions;
|
|
|
|
/// \brief true if the model is currently inside the region
|
|
private: bool isInside;
|
|
};
|
|
}
|
|
#endif
|