75 lines
2.2 KiB
C++
75 lines
2.2 KiB
C++
/*
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* Copyright (C) 2016 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_BLINKVISUALPLUGIN_HH_
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#define GAZEBO_BLINKVISUALPLUGIN_HH_
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#include <memory>
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#include <gazebo/common/Plugin.hh>
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namespace gazebo
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{
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// Forward declare private data class.
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class BlinkVisualPluginPrivate;
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/// \brief Plugin that makes a visual blink between two colors. See the
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/// example usage below:
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///
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/// \verbatim
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/// <plugin name="blink" filename="libBlinkVisualPlugin.so">
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///
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/// <!-- First RGBA color, each number from 0 to 1. Defaults to red. -->
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/// <color_a>1 0 0 1</color_a>
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///
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/// <!-- Second RGBA color. Defaults to black. -->
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/// <color_a>0 0 0 1</color_a>
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///
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/// <!-- Period in seconds. Defaults to 1 s. -->
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/// <period>1</period>
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///
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/// <!-- True to use wall time, false to use sim time.
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/// Defaults to false. -->
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/// <use_wall_time>true</use_wall_time>
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///
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/// </plugin>
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/// \endverbatim
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///
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/// See worlds/blink_visual.world for a complete example.
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class GAZEBO_VISIBLE BlinkVisualPlugin : public VisualPlugin
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{
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/// \brief Constructor.
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public: BlinkVisualPlugin();
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/// \brief Destructor.
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public: ~BlinkVisualPlugin();
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// Documentation inherited
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public: virtual void Load(rendering::VisualPtr _visual,
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sdf::ElementPtr _sdf);
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/// \brief Update the plugin once every iteration of simulation.
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private: void Update();
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/// \brief Callback to receive info.
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private: void OnInfo(ConstPosesStampedPtr &_msg);
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/// \internal
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/// \brief Private data pointer
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private: std::unique_ptr<BlinkVisualPluginPrivate> dataPtr;
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};
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}
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#endif
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