18 #ifndef GAZEBO_PLUGINS_ARRANGEPLUGIN_HH_
19 #define GAZEBO_PLUGINS_ARRANGEPLUGIN_HH_
26 #include <ignition/math/Pose3.hh>
27 #include <ignition/transport/Node.hh>
30 #include <gazebo/transport/transport.hh>
51 public:
virtual void Init();
54 public:
virtual void Reset();
59 public:
bool SetArrangement(
const std::string &_arrangement);
62 public:
void ArrangementCallback(ConstGzStringPtr &_msg);
68 protected: sdf::ElementPtr
sdf;
77 public: ignition::math::Pose3d
pose;
82 typedef std::map<std::string, ObjectPtr>
Object_M;
88 typedef std::map<std::string, ignition::math::Pose3d>
Pose_M;
physics::WorldPtr world
World pointer.
Definition: ArrangePlugin.hh:65
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
std::string eventTopicName
Topic to listen on for changing arrangments.
Definition: ArrangePlugin.hh:103
physics::ModelPtr model
Model pointer.
Definition: ArrangePlugin.hh:74
boost::shared_ptr< Subscriber > SubscriberPtr
Definition: TransportTypes.hh:53
A plugin with access to physics::World.
Definition: Plugin.hh:235
transport::SubscriberPtr sub
Subscriber for listening to changing arrangements.
Definition: ArrangePlugin.hh:109
std::map< std::string, Pose_M > Arrangement_M
Map of strings to Pose_M (arrangement map).
Definition: ArrangePlugin.hh:91
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
Definition: ArrangePlugin.hh:37
default namespace for gazebo
std::map< std::string, ObjectPtr > Object_M
Map of strings to model pointers.
Definition: ArrangePlugin.hh:82
ignition::transport::Node nodeIgn
Ignition node for Gazebo transport.
Definition: ArrangePlugin.hh:115
transport::NodePtr node
Node for Gazebo transport.
Definition: ArrangePlugin.hh:106
std::map< std::string, ignition::math::Pose3d > Pose_M
Map of strings to model poses.
Definition: ArrangePlugin.hh:88
Object_M objects
Collection of models.
Definition: ArrangePlugin.hh:85
Class to store info about each object.
Definition: ArrangePlugin.hh:71
ignition::math::Pose3d pose
Initial object pose.
Definition: ArrangePlugin.hh:77
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
sdf::ElementPtr sdf
SDF pointer.
Definition: ArrangePlugin.hh:68
std::string initialArrangementName
Initial arrangement name.
Definition: ArrangePlugin.hh:97
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:59
std::string currentArrangementName
Current arrangement name.
Definition: ArrangePlugin.hh:100
std::shared_ptr< Object > ObjectPtr
Definition: ArrangePlugin.hh:79
Arrangement_M arrangements
Information about arrangements.
Definition: ArrangePlugin.hh:94