ContactSensor.hh

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/*
 * Copyright 2012 Nate Koenig
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: Contact sensor
 * Author: Nate Koenig
 * Date: 09 Sept. 2008
*/

#ifndef _CONTACTSENSOR_HH_
#define _CONTACTSENSOR_HH_

#include <vector>
#include <map>
#include <string>

#include "gazebo/math/Angle.hh"
#include "gazebo/sensors/Sensor.hh"
#include "gazebo/physics/Contact.hh"

namespace gazebo
{
  namespace sensors
  {
    class Contact;

    class ContactSensor: public Sensor
    {
      public: ContactSensor();

      public: virtual ~ContactSensor();

      public: virtual void Load(const std::string &_worldName,
                                sdf::ElementPtr _sdf);

      public: virtual void Load(const std::string &_worldName);

      public: virtual void Init();

      protected: virtual void UpdateImpl(bool _force);

      protected: virtual void Fini();

      public: unsigned int GetCollisionCount() const;

      public: std::string GetCollisionName(unsigned int _index) const;

      public: unsigned int GetCollisionContactCount(
                  const std::string &_collisionName) const;

      public: physics::Contact GetCollisionContact(
                  const std::string &_collisionName, unsigned int _index) const;

      public: std::map<std::string, physics::Contact> GetContacts(
                  const std::string &_collisionName);

      private: void OnContact(const std::string &_collisionName,
                              const physics::Contact &_contact);

      private: std::vector<physics::CollisionPtr> collisions;

      private: typedef std::map<std::string,
               std::map<std::string, physics::Contact> > Contact_M;

      private: Contact_M contacts;

      private: transport::PublisherPtr contactsPub;

      private: boost::mutex *mutex;

      public: boost::mutex* GetUpdateMutex() const
              {return this->mutex;}
    };
  }
}

#endif