Program Listing for File Namo.hh

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/*
 * Copyright (C) 2021 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 SYSTEM_PLUGIN_NAMO_HH_
#define SYSTEM_PLUGIN_NAMO_HH_

// The only required include in the header is this one.
// All others will depend on what your plugin does.
#include <gz/sim/System.hh>

// It's good practice to use a custom namespace for your project.
namespace namoros_gz
{
  // Forward declaration
  class NamoPrivate;

  // This is the main plugin's class. It must inherit from System and at least
  // one other interface.
  // Here we use `ISystemPostUpdate`, which is used to get results after
  // physics runs. The opposite of that, `ISystemPreUpdate`, would be used by
  // plugins that want to send commands.
  class Namo : public gz::sim::System,
               public gz::sim::ISystemConfigure,
               public gz::sim::ISystemPreUpdate,
               public gz::sim::ISystemPostUpdate
  {

    // Plugins inheriting ISystemPostUpdate must implement the PostUpdate
    // callback. This is called at every simulation iteration after the physics
    // updates the world. The _info variable provides information such as time,
    // while the _ecm provides an interface to all entities and components in
    // simulation.
  public:
    Namo();

    void PostUpdate(const gz::sim::UpdateInfo &_info,
                    const gz::sim::EntityComponentManager &_ecm) override;

    void PreUpdate(
        const gz::sim::UpdateInfo &_info,
        gz::sim::EntityComponentManager &_ecm) override;

    void Configure(const gz::sim::Entity &_id,
                   const std::shared_ptr<const sdf::Element> &_sdf,
                   gz::sim::EntityComponentManager &_ecm,
                   gz::sim::EventManager &_eventMgr) final;

  private:
    std::unique_ptr<NamoPrivate> dataPtr;
    std::map<std::string, uint64_t> robotToJoint;
  };
}
#endif