RegionEventBoxPlugin.hh
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1 /*
2  * Copyright (C) 2015 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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17 
18 #ifndef GAZEBO_PLUGINS_REGIONEVENTBOXPLUGIN_HH_
19 #define GAZEBO_PLUGINS_REGIONEVENTBOXPLUGIN_HH_
20 
21 #include <map>
22 #include <string>
23 
24 #include <gazebo/physics/physics.hh>
25 #include <gazebo/common/Plugin.hh>
26 
27 #include "EventSource.hh"
28 
29 namespace gazebo
30 {
44  {
46  public: RegionEventBoxPlugin();
47 
48  // Documentation Inherited.
49  public: void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
50 
53  public: void OnModelMsg(ConstModelPtr &_msg);
54 
57  public: void OnUpdate(const common::UpdateInfo &_info);
58 
64  private: bool PointInRegion(const ignition::math::Vector3d &_point,
65  const ignition::math::Box &_box, const ignition::math::Pose3d &_pose)
66  const;
67 
71  private: void UpdateRegion(const ignition::math::Vector3d &_size,
72  const ignition::math::Pose3d &_pose);
73 
76  private: void SendEnteringRegionEvent(physics::ModelPtr _model) const;
77 
80  private: void SendExitingRegionEvent(physics::ModelPtr _model) const;
81 
83  private: physics::WorldPtr world;
84 
86  private: physics::ModelPtr model;
87 
89  private: event::ConnectionPtr updateConnection;
90 
92  private: std::string modelName;
93 
96 
98  public: std::mutex receiveMutex;
99 
101  private: ignition::math::Vector3d boxSize;
102 
104  private: ignition::math::Vector3d boxScale;
105 
107  private: ignition::math::Pose3d boxPose;
108 
110  private: ignition::math::Box box;
111 
113  private: transport::SubscriberPtr modelSub;
114 
116  private: bool hasStaleSizeAndPose;
117 
120  private: std::map<std::string, common::Time> insiders;
121 
123  private: transport::PublisherPtr eventPub;
124 
126  private: gazebo::EventSourcePtr eventSource;
127  };
128 }
129 
130 #endif
transport::NodePtr node
Transport node pointer.
Definition: RegionEventBoxPlugin.hh:95
RegionEventBoxPlugin()
Constructor.
Forward declarations for the common classes.
Definition: Animation.hh:26
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:49
boost::shared_ptr< Subscriber > SubscriberPtr
Definition: TransportTypes.hh:53
boost::shared_ptr< Node > NodePtr
Definition: TransportTypes.hh:57
std::shared_ptr< EventSource > EventSourcePtr
Definition: EventSource.hh:81
void OnUpdate(const common::UpdateInfo &_info)
Updates the box event plugin at every physics iteration.
std::mutex receiveMutex
Mutex to protect incoming messages.
Definition: RegionEventBoxPlugin.hh:98
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
A plugin that fires an event when another model enters the region defined by the size of this model's...
Definition: RegionEventBoxPlugin.hh:43
void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
Load function.
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
A plugin with access to physics::Model.
Definition: Plugin.hh:303
Information for use in an update event.
Definition: UpdateInfo.hh:30
void OnModelMsg(ConstModelPtr &_msg)
Callback when a model message is received.