ContainPlugin.hh

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/*
 * Copyright (C) 2018 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_CONTAINPLUGIN_HH_
#define GAZEBO_PLUGINS_CONTAINPLUGIN_HH_

#include <memory>

#include "gazebo/common/Plugin.hh"
#include "gazebo/msgs/msgs.hh"

namespace gazebo
{
  class ContainPluginPrivate;

  class GZ_PLUGIN_VISIBLE ContainPlugin : public WorldPlugin
  {
    // Documentation inherited
    public: ContainPlugin();

    // Documentation inherited
    public: void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf) override;

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

    private: bool Enable(const bool _enable);

    private: bool EnableIgn(const ignition::msgs::Boolean &_req,
                            ignition::msgs::Boolean &_res);

    private: void PublishContains(bool _contains);

    private: std::unique_ptr<ContainPluginPrivate> dataPtr;
  };
}

#endif