82 lines
2.4 KiB
C++
82 lines
2.4 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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#include <string>
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// Include Rand.hh first to avoid osx compilation errors
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#include "gazebo/math/Rand.hh"
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#include "gazebo/common/Plugin.hh"
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#include "gazebo/rendering/rendering.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 This plugin will generate 5 pictures of a model: perspective,
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/// top, front, side, back.
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class GAZEBO_VISIBLE ModelPropShop : public SystemPlugin
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{
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/// \brief Destructor
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public: virtual ~ModelPropShop();
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/// \brief Load the plugin.
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/// \param[in] _argc Number of command line arguments.
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/// \param[in] _argv Array of command line arguments.
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public: void Load(int _argc, char **_argv);
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/// \brief Initialize the plugin.
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private: void Init();
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/// \brief Callback triggered when the world has been created.
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private: void OnWorldCreated();
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/// \brief Update the plugin.
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private: void Update();
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/// \brief The update connection.
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private: event::ConnectionPtr updateConn;
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/// \brief The world created connection.
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private: event::ConnectionPtr worldCreatedConn;
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/// \brief Node for communication.
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private: transport::NodePtr node;
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/// \brief Publisher used to stop the server.
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private: transport::PublisherPtr pub;
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/// \brief Publisher used to spawn the model.
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private: transport::PublisherPtr factoryPub;
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/// \brief Pointer to the scene.
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private: rendering::ScenePtr scene;
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/// \brief Pointer to the camera.
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private: rendering::CameraPtr camera;
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/// \brief Pointer to the light.
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private: rendering::LightPtr light;
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/// \brief Pointer to the sdf document.
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private: sdf::SDFPtr sdf;
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/// \brief Name of the model.
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private: std::string modelName;
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/// \brief Path in which to save the output images.
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private: boost::filesystem::path savePath;
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};
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}
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