TransporterPlugin Class Reference

A plugin that allows models to transport (teleport) to a new location. More...

#include <TransporterPlugin.hh>

Inherits WorldPlugin.

Public Types
typedef boost::shared_ptr< WorldPlugin >	TPtr
	plugin pointer type definition More...

Public Member Functions
	TransporterPlugin ()
	Constructor. More...
virtual	~TransporterPlugin ()
	Destructor. 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 ()
virtual void	Load (physics::WorldPtr _world, sdf::ElementPtr _sdf)
	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...

Detailed Description

A plugin that allows models to transport (teleport) to a new location.

A transporter plugin uses multiple named <pads>, where each <pad> defines an outgoing region, an incoming pose, and a destination pad.

When a model enters a pad's outgoing region it is moved to the destination pad's incoming pose. This means the transporter plugin is only useful if at least two pads are defined.

The following is example usage in SDF:

 <plugin filename="libTransporterPlugin.so" name="transporter">
   <!-- Topic that facilitates manual activation of a pad. An
   activation message is only meaningful for pad's with manual
   activation. An activation message consists of
   a string message on this topic with a pad's name to activate.
   See examples/stand_alone/transporter.cc for an example for
   triggering a manual pad. -->
   <activation_topic>~/transporter</activation_topic>

   <!-- Pad 1, which is automatically updated. This means any model
   that enter the outgoing region will be moved. -->
   <pad name="pad1">
     <destination>pad2</destination>
     <activation>auto</activation>

     <outgoing>
       <min>-.5 -.5 0</min>
       <max>.5 .5 1</max>
     </outgoing>

     <incoming>
       <pose>2 3.5 0 0 0 0</pose>
     </incoming>
   </pad>

   <!-- Pad 2 is manually updated. This means a model will be
   moved only if it is in the outgoing region and an activation
   message has been received. An activation message consists of
   a string message on the <activation_topic> topic with
   the pad's name. -->
   <pad name="pad2">
     <destination>pad1</destination>
     <activation>manual</activation>

     <outgoing>
       <min>-.5 3.0 0</min>
       <max>.5 4.0 1</max>
     </outgoing>

     <incoming>
       <pose>2 0 0 0 0 0</pose>
     </incoming>
   </pad>
 </plugin>

Member Typedef Documentation

TPtr

typedef boost::shared_ptr<WorldPlugin > TPtr

inherited

plugin pointer type definition

Constructor & Destructor Documentation

TransporterPlugin()

TransporterPlugin

(

)

Constructor.

~TransporterPlugin()

virtual ~TransporterPlugin ( )

virtual

Destructor.

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]	_filename	the path to the shared library.
[in]	_name	short name of the plugin

Returns

Shared Pointer to this class type

GetFilename()

std::string GetFilename ( ) const

inlineinherited

Get the name of the handler.

GetHandle()

std::string GetHandle ( ) const

inlineinherited

Get the short name of the handler.

GetType()

PluginType GetType ( ) const

inlineinherited

Returns the type of the plugin.

Returns

type of the plugin

Init()

virtual void Init ( )

inlinevirtualinherited

Reimplemented in StaticMapPlugin, ArrangePlugin, SimEventsPlugin, and RubblePlugin.

Load()

virtual void Load ( physics::WorldPtr  _world, 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]	_world	Pointer the World
[in]	_sdf	Pointer the the SDF element of the plugin.

Implements WorldPlugin.

LoadParam() [1/2]

void LoadParam ( const sdf::ElementPtr &  _sdf, const std::string &  _name, V &  _target, V  _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]	_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.

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]	_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.

Reset()

virtual void Reset ( )

inlinevirtualinherited

Reimplemented in ArrangePlugin.

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.

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

• TransporterPlugin.hh