61 lines
1.9 KiB
C++
61 lines
1.9 KiB
C++
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/*
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* Copyright (C) 2012 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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/*
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* Desc: Contact Plugin
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* Author: Nate Koenig mod by John Hsu
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*/
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#ifndef _GAZEBO_CONTACT_PLUGIN_HH_
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#define _GAZEBO_CONTACT_PLUGIN_HH_
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#include <string>
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#include <gazebo/common/Plugin.hh>
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#include <gazebo/sensors/sensors.hh>
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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/// \brief A plugin for a contact sensor. Inherit from this class to make
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/// your own contact plugin.
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class GAZEBO_VISIBLE ContactPlugin : public SensorPlugin
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{
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/// \brief Constructor.
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public: ContactPlugin();
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/// \brief Destructor.
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public: virtual ~ContactPlugin();
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/// \brief Load the sensor plugin.
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/// \param[in] _sensor Pointer to the sensor that loaded this plugin.
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/// \param[in] _sdf SDF element that describes the plugin.
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public: virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
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/// \brief Callback that recieves the contact sensor's update signal.
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/// Override this this function to get callbacks when the contact sensor
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/// is updated with new data.
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private: virtual void OnUpdate();
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/// \brief Pointer to the contact sensor
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private: sensors::ContactSensorPtr parentSensor;
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/// \brief Connection that maintains a link between the contact sensor's
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/// updated signal and the OnUpdate callback.
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private: event::ConnectionPtr updateConnection;
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};
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}
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#endif
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