PressurePlugin.hh

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/*
 * Copyright (C) 2012 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.
 *
*/
/*
 * Desc: Pressure Sensor Plugin
 * Author: Steve Peters
 */

#ifndef GAZEBO_PLUGINS_PRESSUREPLUGIN_HH_
#define GAZEBO_PLUGINS_PRESSUREPLUGIN_HH_

#include <map>
#include <string>
#include <ignition/transport/Node.hh>

#include <gazebo/common/Plugin.hh>
#include <gazebo/sensors/sensors.hh>
#include <gazebo/transport/transport.hh>
#include "gazebo/util/system.hh"

namespace gazebo
{
  class GZ_PLUGIN_VISIBLE PressurePlugin : public SensorPlugin
  {
    public: PressurePlugin();

    public: virtual ~PressurePlugin();

    // Documentation inherited.
    public: virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);

    // Documentation inherited.
    public: virtual void Init();

    private: virtual void OnUpdate();

    private: sensors::ContactSensorPtr parentSensor;

    private: event::ConnectionPtr updateConnection;

    private: transport::NodePtr node;

    private: transport::PublisherPtr tactilePub;

    private: std::string worldName;

    private: std::string parentSensorName;

    private: std::map<std::string, double> collisionNamesToArea;

    // Place ignition::transport objects at the end of this file to
    // guarantee they are destructed first.

    private: ignition::transport::Node nodeIgn;

    private: ignition::transport::Node::Publisher tactilePubIgn;
  };
}
#endif