gazebo_activity.h
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00001 //=================================================================================================
00002 // Copyright (c) 2012, Johannes Meyer, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Flight Systems and Automatic Control group,
00013 //       TU Darmstadt, nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #ifndef GAZEBO_RTT_PLUGIN_GAZEBO_ACTIVITY_H
00030 #define GAZEBO_RTT_PLUGIN_GAZEBO_ACTIVITY_H
00031 
00032 #include <rtt/base/ActivityInterface.hpp>
00033 #include <gazebo/physics/World.hh>
00034 
00035 #include <hector_gazebo_plugins/update_timer.h>
00036 
00037 namespace gazebo {
00038 
00039 class GazeboActivity : public RTT::base::ActivityInterface
00040 {
00041 public:
00042     GazeboActivity(const std::string& name, RTT::base::RunnableInterface* run = 0);
00043     GazeboActivity(const std::string& name, common::Time period, physics::WorldPtr world, RTT::base::RunnableInterface* run = 0);
00044     ~GazeboActivity();
00045 
00046     void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf, const std::string& _prefix = std::string());
00047 
00048     RTT::Seconds getPeriod() const;
00049     bool setPeriod(RTT::Seconds s);
00050 
00051     unsigned getCpuAffinity() const;
00052     bool setCpuAffinity(unsigned cpu);
00053 
00054     RTT::os::ThreadInterface* thread();
00055 
00056     bool initialize();
00057     void step();
00058     void loop();
00059     bool breakLoop();
00060     void finalize();
00061 
00062     bool start();
00063     bool stop();
00064 
00065     bool isRunning() const;
00066     bool isPeriodic() const;
00067     bool isActive() const;
00068 
00069     bool execute();
00070     bool trigger();
00071 
00072 private:
00073     std::string mname;
00074     physics::WorldPtr mworld;
00075     bool running;
00076     bool active;
00077 
00078     UpdateTimer updateTimer;
00079     gazebo::event::ConnectionPtr updateConnection;
00080 };
00081 
00082 } // namespace gazebo
00083 
00084 #endif // GAZEBO_RTT_PLUGIN_GAZEBO_ACTIVITY_H


gazebo_rtt_plugin
Author(s): Johannes Meyer
autogenerated on Thu Mar 27 2014 00:38:43