64 lines
1.9 KiB
C++
64 lines
1.9 KiB
C++
/*
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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_SENSORS_CONTACTSENSOR_PRIVATE_HH_
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#define _GAZEBO_SENSORS_CONTACTSENSOR_PRIVATE_HH_
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#include <vector>
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#include <list>
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#include <string>
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#include <mutex>
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#include "gazebo/transport/TransportTypes.hh"
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#include "gazebo/msgs/msgs.hh"
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namespace gazebo
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{
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namespace sensors
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{
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/// \internal
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/// \brief Contact sensor private data.
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class ContactSensorPrivate
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{
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/// \brief Collisions this sensor monitors for contacts
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public: std::vector<std::string> collisions;
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/// \brief Output contact information.
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public: transport::PublisherPtr contactsPub;
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/// \brief Subscription to contact messages from the physics engine
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public: transport::SubscriberPtr contactSub;
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/// \brief Mutex to protect reads and writes.
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public: mutable std::mutex mutex;
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/// \brief Contacts message used to output sensor data.
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public: msgs::Contacts contactsMsg;
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/// \type ContactMsgs_L
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/// List of contact messages
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typedef std::list<boost::shared_ptr<msgs::Contacts const> > ContactMsgs_L;
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/// \brief List of incoming messages.
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public: ContactMsgs_L incomingContacts;
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/// \brief Name of filter used to filter contact messages.
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public: std::string filterName;
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};
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}
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}
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#endif
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