ElevatorPlugin.hh

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/*
 * Copyright (C) 2015 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_ELEVATORPLUGIN_HH_
#define GAZEBO_PLUGINS_ELEVATORPLUGIN_HH_

#include <memory>
#include <string>

#include <sdf/sdf.hh>

#include <gazebo/msgs/msgs.hh>
#include <gazebo/common/UpdateInfo.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/util/system.hh>

namespace gazebo
{
  class ElevatorPluginPrivate;

  class GZ_PLUGIN_VISIBLE ElevatorPlugin : public ModelPlugin
  {
    public: ElevatorPlugin();

    public: ~ElevatorPlugin();

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

    // Documentation inherited
    public: virtual void Reset();

    public: void MoveToFloor(const int _floor);

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

    private: void OnElevator(ConstGzStringPtr &_msg);

    private: std::unique_ptr<ElevatorPluginPrivate> dataPtr;
  };
}
#endif