60 lines
1.9 KiB
C++
60 lines
1.9 KiB
C++
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/*
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* Copyright (C) 2017 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_PLUGINS_ATTACHLIGHTPLUGIN_HH_
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#define GAZEBO_PLUGINS_ATTACHLIGHTPLUGIN_HH_
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#include <memory>
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#include "gazebo/common/Plugin.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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// forward declarations
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class AttachLightPluginPrivate;
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/// \brief A model plugin that enables multiple lights in the world to be
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/// attached to links within the model.
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///
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/// The plugin has the following SDF description:
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/// <link> SDF element. More than one <link> can be defined.
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/// <link_name> Name of the link in the model.
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/// <light> SDF element. More than one <light> can be attached.
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/// <pose> Offset pose of the light in the link frame.
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/// <light_name> Name of the light in the world.
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class GAZEBO_VISIBLE AttachLightPlugin : public ModelPlugin
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{
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/// \brief Constructor
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public: AttachLightPlugin();
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// Documentation inherited
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public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
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/// \brief Main loop to update the pose of lights
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private: void OnUpdate();
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/// \brief Request callback for handling deletion events.
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/// \param[in] _msg The message data.
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public: void OnRequest(ConstRequestPtr &_msg);
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/// \brief Pointer to private data
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private: std::unique_ptr<AttachLightPluginPrivate> dataPtr;
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};
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}
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#endif
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