TouchPlugin.hh

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/*
 * Copyright (C) 2017 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_TOUCHPLUGIN_HH_
#define GAZEBO_PLUGINS_TOUCHPLUGIN_HH_

#include <string>
#include <vector>
#include <gazebo/common/Events.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/sensors/ContactSensor.hh>
#include <gazebo/transport/Node.hh>
#include <sdf/sdf.hh>

namespace gazebo
{
  class GAZEBO_VISIBLE TouchPlugin : public ModelPlugin
  {
    public: TouchPlugin();

    // Documentation inherited
    public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);

    public: void Enable(ConstIntPtr &_msg);

    private: void OnUpdate(const common::UpdateInfo &_info);

    private: std::vector<sensors::ContactSensorPtr> contactSensors;

    private: std::string modelName;

    private: std::string target;

    private: std::string ns;

    private: common::Time targetTime = 5;

    private: common::Time touchStart;

    private: transport::NodePtr gzNode;

    private: transport::PublisherPtr touchedPub;

    private: transport::SubscriberPtr enableSub;

    private: event::ConnectionPtr updateConnection;
  };
}

#endif