RegionEventBoxPlugin.hh
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1/*
2 * Copyright (C) 2015 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17
18#ifndef GAZEBO_PLUGINS_REGIONEVENTBOXPLUGIN_HH_
19#define GAZEBO_PLUGINS_REGIONEVENTBOXPLUGIN_HH_
20
21#ifdef _WIN32
22 // Ensure that Winsock2.h is included before Windows.h, which can get
23 // pulled in by anybody (e.g., Boost).
24#include <Winsock2.h>
25#endif
26
27#include <map>
28#include <string>
29
30#include <gazebo/physics/physics.hh>
32
33#include "EventSource.hh"
34
35namespace gazebo
36{
50 {
53
54 // Documentation Inherited.
55 public: void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
56
59 public: void OnModelMsg(ConstModelPtr &_msg);
60
63 public: void OnUpdate(const common::UpdateInfo &_info);
64
70 private: bool PointInRegion(const ignition::math::Vector3d &_point,
71 const ignition::math::Box &_box, const ignition::math::Pose3d &_pose)
72 const;
73
77 private: void UpdateRegion(const ignition::math::Vector3d &_size,
78 const ignition::math::Pose3d &_pose);
79
82 private: void SendEnteringRegionEvent(physics::ModelPtr _model) const;
83
86 private: void SendExitingRegionEvent(physics::ModelPtr _model) const;
87
89 private: physics::WorldPtr world;
90
92 private: physics::ModelPtr model;
93
95 private: event::ConnectionPtr updateConnection;
96
98 private: std::string modelName;
99
102
104 public: std::mutex receiveMutex;
105
107 private: ignition::math::Vector3d boxSize;
108
110 private: ignition::math::Vector3d boxScale;
111
113 private: ignition::math::Pose3d boxPose;
114
116 private: ignition::math::Box box;
117
119 private: transport::SubscriberPtr modelSub;
120
122 private: bool hasStaleSizeAndPose;
123
126 private: std::map<std::string, common::Time> insiders;
127
129 private: transport::PublisherPtr eventPub;
130
132 private: gazebo::EventSourcePtr eventSource;
133 };
134}
135
136#endif
A plugin with access to physics::Model.
Definition: Plugin.hh:313
A plugin that fires an event when another model enters the region defined by the size of this model's...
Definition: RegionEventBoxPlugin.hh:50
std::mutex receiveMutex
Mutex to protect incoming messages.
Definition: RegionEventBoxPlugin.hh:104
void OnUpdate(const common::UpdateInfo &_info)
Updates the box event plugin at every physics iteration.
transport::NodePtr node
Transport node pointer.
Definition: RegionEventBoxPlugin.hh:101
void OnModelMsg(ConstModelPtr &_msg)
Callback when a model message is received.
void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
Load function.
RegionEventBoxPlugin()
Constructor.
Information for use in an update event.
Definition: UpdateInfo.hh:31
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
boost::shared_ptr< Subscriber > SubscriberPtr
Definition: TransportTypes.hh:53
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:49
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
Forward declarations for the common classes.
Definition: Animation.hh:27
std::shared_ptr< EventSource > EventSourcePtr
Definition: EventSource.hh:87