JointEventSource.hh

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/*
 * Copyright (C) 2015 Open Source Robotics Foundation
 *
 * 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.
 *
*/

#ifndef GAZEBO_PLUGINS_JOINTEVENTSOURCE_HH_
#define GAZEBO_PLUGINS_JOINTEVENTSOURCE_HH_

#include <string>

#include "plugins/events/EventSource.hh"

namespace gazebo
{
  class JointEventSource: public EventSource
  {
    public: enum Range {
                POSITION,
                ANGLE,
                VELOCITY,
                FORCE,
                INVALID
              };


    public: JointEventSource(transport::PublisherPtr _pub,
                physics::WorldPtr _world);

    public: virtual void Init();

    public: void Update();

    public: void Info() const;

    public: virtual void Load(const sdf::ElementPtr _sdf);

    private: bool LookupJoint();

    private: std::string RangeAsString() const;

    private: void SetRangeFromString(const std::string &_rangeStr);

    private: event::ConnectionPtr updateConnection;

    private: std::string modelName;

    private: std::string jointName;

    private: physics::ModelPtr model;

    private: physics::JointPtr joint;

    private: double min;

    private: double max;

    private: Range range;

    private: bool isTriggered;
  };
}

#endif