Plugin which emits Ignition Transport messages according to whether an entity's origin is inside or outside a given volume. More...
#include <ContainPlugin.hh>
Inherits WorldPlugin.
Public Types | |
typedef boost::shared_ptr< WorldPlugin > | TPtr |
plugin pointer type definition More... | |
Public Member Functions | |
ContainPlugin () | |
std::string | GetFilename () const |
Get the name of the handler. More... | |
std::string | GetHandle () const |
Get the short name of the handler. More... | |
PluginType | GetType () const |
Returns the type of the plugin. More... | |
virtual void | Init () |
void | Load (physics::WorldPtr _world, sdf::ElementPtr _sdf) override |
Load function. More... | |
virtual void | Reset () |
Static Public Member Functions | |
static TPtr | Create (const std::string &_filename, const std::string &_name) |
a class method that creates a plugin from a file name. More... | |
Protected Member Functions | |
void | LoadParam (const sdf::ElementPtr &_sdf, const std::string &_name, V &_target, V _defaultValue=V()) const |
Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found. More... | |
void | LoadParam (sdf::ElementPtr &_sdf, const std::string &_name, std::string &_target, const char *_defaultValue) const |
Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found. More... | |
Protected Attributes | |
std::string | filename |
Path to the shared library file. More... | |
std::string | handleName |
Short name. More... | |
PluginType | type |
Type of plugin. More... | |
Plugin which emits Ignition Transport messages according to whether an entity's origin is inside or outside a given volume.
A message is only published when the state changes.
Example usage:
<plugin name="containRobotArm" filename="libContainPlugin.so">
<enabled>true</enabled>
<entity>robot::arm_link</entity>
<namespace>gazebo/robot</namespace>
<pose>10 10 2 0 0 1.57</pose>
<pose frame="model_name::link_name">10 10 2 0 0 1.57</pose>
<geometry> <box> <size>1 1 4</size> </box> </geometry>
</plugin>
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inherited |
plugin pointer type definition
ContainPlugin | ( | ) |
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inlinestaticinherited |
a class method that creates a plugin from a file name.
It locates the shared library and loads it dynamically.
[in] | _filename | the path to the shared library. |
[in] | _name | short name of the plugin |
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inlineinherited |
Get the name of the handler.
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inlineinherited |
Get the short name of the handler.
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inlineinherited |
Returns the type of the plugin.
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inlinevirtualinherited |
Reimplemented in StaticMapPlugin, ArrangePlugin, SimEventsPlugin, and RubblePlugin.
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overridevirtual |
Load function.
Called when a Plugin is first created, and after the World has been loaded. This function should not be blocking.
[in] | _world | Pointer the World |
[in] | _sdf | Pointer the the SDF element of the plugin. |
Implements WorldPlugin.
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inlineprotectedinherited |
Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.
A message is written using gzmsg reporting whether the default value was used or not.
[in] | _sdf | The SDF element of the plugin. |
[in] | _name | Name of a tag inside the SDF. |
[out] | _target | The reference to store the param value to. |
[in] | _defaultValue | The default value. |
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inlineprotectedinherited |
Load parameter value from _sdf and store it to the given reference, using the supplied default value if the element in _sdf is not found.
A message is written using gzmsg reporting whether the default value was used or not. String specialization to allow accepting const char* values for std::string parameters.
[in] | _sdf | The SDF element of the plugin. |
[in] | _name | Name of a tag inside the SDF. |
[out] | _target | The reference to store the param value to. |
[in] | _defaultValue | The default value. |
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inlinevirtualinherited |
Reimplemented in ArrangePlugin.
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protectedinherited |
Path to the shared library file.
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protectedinherited |
Short name.
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protectedinherited |
Type of plugin.