TouchPlugin Class Reference

Plugin which checks if this model has touched some specific target for a given time continuously and exclusively. More...

#include <TouchPlugin.hh>

Inherits ModelPlugin.

Public Types

typedef boost::shared_ptr< ModelPluginTPtr
 plugin pointer type definition More...
 

Public Member Functions

 TouchPlugin ()
 Constructor. More...
 
void Enable (ConstIntPtr &_msg)
 Callback for enable "service". More...
 
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 ()
 Override this method for custom plugin initialization behavior. More...
 
virtual void Load (physics::ModelPtr _model, sdf::ElementPtr _sdf)
 Load function. More...
 
virtual void Reset ()
 Override this method for custom plugin reset behavior. More...
 

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...
 

Detailed Description

Plugin which checks if this model has touched some specific target for a given time continuously and exclusively.

After the touch is completed, the plugin is disabled. It can be re-enabled through a Gazebo transport topic.

It requires that contact sensors be placed in at least one link on this model.

Parameters:

<sensor> Name of contact sensor attached to one of this model's links. There can be multiple sensor elements in case many links are checked.

<target> Scoped name of collision which we want to be touching. This can be a substring of the desired collision name so we match more than one collision. For example, using the name of a model will match all its collisions.

<time> Target time in seconds to maintain contact.

<namespace> Namespace for transport topics: /<namespace>/enable : Topic used to enable and disable the plugin. /<namespace>/touched : Topic where a message is published once the touch is complete.

<enabled> Set this to true so the plugin works from the start and doesn't need to be enabled.

Member Typedef Documentation

◆ TPtr

typedef boost::shared_ptr<ModelPlugin > TPtr
inherited

plugin pointer type definition

Constructor & Destructor Documentation

◆ TouchPlugin()

Constructor.

Member Function Documentation

◆ Create()

static TPtr Create ( const std::string &  _filename,
const std::string &  _name 
)
inlinestaticinherited

a class method that creates a plugin from a file name.

It locates the shared library and loads it dynamically.

Parameters
[in]_filenamethe path to the shared library.
[in]_nameshort name of the plugin
Returns
Shared Pointer to this class type

References PluginT< T >::filename, gzerr, and SingletonT< SystemPaths >::Instance().

◆ Enable()

void Enable ( ConstIntPtr &  _msg)

Callback for enable "service".

Parameters
[in]_msgMessage with 0 to disable and 1 to enable the plugin.

◆ GetFilename()

std::string GetFilename ( ) const
inlineinherited

Get the name of the handler.

References PluginT< T >::filename.

◆ GetHandle()

std::string GetHandle ( ) const
inlineinherited

Get the short name of the handler.

References PluginT< T >::handleName.

◆ GetType()

PluginType GetType ( ) const
inlineinherited

Returns the type of the plugin.

Returns
type of the plugin

References PluginT< T >::type.

◆ Init()

virtual void Init ( )
inlinevirtualinherited

◆ Load()

virtual void Load ( physics::ModelPtr  _model,
sdf::ElementPtr  _sdf 
)
virtual

Load function.

Called when a Plugin is first created, and after the World has been loaded. This function should not be blocking.

Parameters
[in]_modelPointer to the Model
[in]_sdfPointer to the SDF element of the plugin.

Implements ModelPlugin.

◆ LoadParam() [1/2]

void LoadParam ( const sdf::ElementPtr &  _sdf,
const std::string &  _name,
V &  _target,
_defaultValue = V() 
) const
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.

Parameters
[in]_sdfThe SDF element of the plugin.
[in]_nameName of a tag inside the SDF.
[out]_targetThe reference to store the param value to.
[in]_defaultValueThe default value.

References gzmsg, and PluginT< T >::handleName.

◆ LoadParam() [2/2]

void LoadParam ( sdf::ElementPtr &  _sdf,
const std::string &  _name,
std::string &  _target,
const char *  _defaultValue 
) const
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.

Parameters
[in]_sdfThe SDF element of the plugin.
[in]_nameName of a tag inside the SDF.
[out]_targetThe reference to store the param value to.
[in]_defaultValueThe default value.

◆ Reset()

virtual void Reset ( )
inlinevirtualinherited

Override this method for custom plugin reset behavior.

Reimplemented in KeysToCmdVelPlugin, RandomVelocityPlugin, ElevatorPlugin, FollowerPlugin, LinearBatteryPlugin, ActorPlugin, InitialVelocityPlugin, and SphereAtlasDemoPlugin.

Member Data Documentation

◆ filename

std::string filename
protectedinherited

Path to the shared library file.

◆ handleName

std::string handleName
protectedinherited

Short name.

◆ type

PluginType type
protectedinherited

Type of plugin.


The documentation for this class was generated from the following file: