Ignition Gazebo

API Reference

5.0.0
JointStatePublisher.hh
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2  * Copyright (C) 2019 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef IGNITION_GAZEBO_SYSTEMS_STATE_PUBLISHER_HH_
19 #define IGNITION_GAZEBO_SYSTEMS_STATE_PUBLISHER_HH_
20 
21 #include <memory>
22 #include <set>
23 #include <ignition/gazebo/Model.hh>
26 
27 namespace ignition
28 {
29 namespace gazebo
30 {
31 // Inline bracket to help doxygen filtering.
32 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
33 namespace systems
34 {
49  : public System,
50  public ISystemConfigure,
51  public ISystemPostUpdate
52  {
54  public: JointStatePublisher();
55 
57  public: ~JointStatePublisher() override = default;
58 
59  // Documentation inherited
60  public: void Configure(const Entity &_entity,
62  EntityComponentManager &_ecm, EventManager &) override;
63 
64  // Documentation inherited
65  public: void PostUpdate(const UpdateInfo &_info,
66  const EntityComponentManager &_ecm) final;
67 
71  private: void CreateComponents(EntityComponentManager &_ecm,
72  gazebo::Entity _joint);
73 
75  private: Model model;
76 
78  private: transport::Node node;
79 
82 
84  private: std::set<Entity> joints;
85  };
86  }
87 }
88 }
89 }
90 
91 #endif
Interface for a system that uses the PostUpdate phase.
Definition: System.hh:119
This class provides wrappers around entities and components which are more convenient and straight-fo...
Definition: Model.hh:60
Information passed to systems on the update callback.
Definition: Types.hh:36
The EntityComponentManager constructs, deletes, and returns components and entities. A component can be of any class which inherits from components::BaseComponent.
Definition: EntityComponentManager.hh:65
The EventManager is used to send/receive notifications of simulator events.
Definition: EventManager.hh:54
Interface for a system that implements optional configuration.
Definition: System.hh:88
The JointStatePub system publishes state information for a model. The published message type is ignit...
Definition: JointStatePublisher.hh:48
STL class.
This library is part of the Ignition Robotics project.
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light. At its core, an Entity is just an identifier.
Definition: Entity.hh:59
Base class for a System.
Definition: System.hh:73