TransporterPluginPrivate.hh

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/*
 * Copyright (C) 2015-2016 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_TRANSPORTER_PLUGIN_PRIVATE_HH_
#define _GAZEBO_TRANSPORTER_PLUGIN_PRIVATE_HH_

#include <map>
#include <string>
#include <mutex>
#include <memory>

#include <gazebo/transport/Node.hh>
#include <gazebo/transport/Subscriber.hh>

namespace gazebo
{
  class TransporterPluginPrivate
  {
    public: class Pad
    {
      public: std::string name;

      public: std::string dest;

      public: math::Pose incomingPose;

      public: math::Box outgoingBox;

      public: bool autoActivation;

      public: bool activated = false;
    };

    public: physics::WorldPtr world;

    public: std::map<std::string, std::shared_ptr<Pad> > pads;

    public: event::ConnectionPtr updateConnection;

    public: transport::NodePtr node;

    public: transport::SubscriberPtr activationSub;

    public: std::mutex padMutex;
  };
}
#endif