ContactSensor.hh

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/*
 * Copyright (C) 2012-2015 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.
 *
*/
/* Desc: Contact sensor
 * Author: Nate Koenig
 * Date: 09 Sept. 2008
*/

#ifndef _CONTACTSENSOR_HH_
#define _CONTACTSENSOR_HH_

#include <vector>
#include <map>
#include <list>
#include <string>

#include "gazebo/msgs/msgs.hh"

#include "gazebo/math/Angle.hh"
#include "gazebo/sensors/Sensor.hh"
#include "gazebo/physics/Contact.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace sensors
  {

    class GAZEBO_VISIBLE ContactSensor: public Sensor
    {
      public: ContactSensor();

      public: virtual ~ContactSensor();

      public: virtual void Load(const std::string &_worldName,
                                sdf::ElementPtr _sdf);

      public: virtual void Load(const std::string &_worldName);

      public: virtual void Init();

      // Documentation inherited
      protected: virtual bool UpdateImpl(bool _force);

      protected: virtual void Fini();

      public: unsigned int GetCollisionCount() const;

      public: std::string GetCollisionName(unsigned int _index) const;

      public: unsigned int GetCollisionContactCount(
                  const std::string &_collisionName) const;

      public: msgs::Contacts GetContacts() const;

      public: std::map<std::string, physics::Contact> GetContacts(
                  const std::string &_collisionName);

      // Documentation inherited.
      public: virtual bool IsActive();

      private: void OnContacts(ConstContactsPtr &_msg);

      private: std::vector<std::string> collisions;

      private: transport::PublisherPtr contactsPub;

      private: transport::SubscriberPtr contactSub;

      private: mutable boost::mutex mutex;

      private: msgs::Contacts contactsMsg;

      typedef std::list<boost::shared_ptr<msgs::Contacts const> > ContactMsgs_L;
      private: ContactMsgs_L incomingContacts;
    };
  }
}
#endif