57 lines
1.8 KiB
C++
57 lines
1.8 KiB
C++
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/*
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* Copyright (C) 2014 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_EXISTENCEVENTSOURCE_HH_
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#define _GAZEBO_EXISTENCEVENTSOURCE_HH_
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#include <string>
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#include "EventSource.hh"
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namespace gazebo
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{
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class ExistenceEventSource: public EventSource
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{
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/// \brief Constructor
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/// \param[in] _pub the publisher for SimEvents
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/// \param[in] _world the word
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public: ExistenceEventSource(transport::PublisherPtr _pub,
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physics::WorldPtr _world);
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/// \brief Reads the model filter and event name.
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/// \param[in] _sdf the element for this event source
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public: virtual void Load(const sdf::ElementPtr _sdf);
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/// \brief callback for gazebo event
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/// \param[in] _model the name of the model
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/// \param[in] _alive true for spawn, false for delete
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public: void OnExistence(const std::string &_model, bool _alive);
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/// \brief A filter to raise the event only for models
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/// with a name that starts with this model specific prefix.
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/// When empty, the existence event is raised for each
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/// model creation and destruction
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private: std::string model;
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/// \brief The Gazebo event, to receive a call when a new model is spawned
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/// or deleted
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private: event::ConnectionPtr existenceConnection;
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};
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}
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#endif
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