GenericObjectHandler.cpp
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00001 
00002 
00003 #include "vrep_ros_plugin/GenericObjectHandler.h"
00004 #include "vrep_ros_plugin/access.h"
00005 #include "v_repLib.h"
00006 
00007 GenericObjectHandler::GenericObjectHandler():
00008 _id(-1),
00009 _associatedObjectUniqueID(-1),
00010 _associatedObjectID(-1),
00011 _initialized(false),
00012 _nh(ros::this_node::getName()){
00013 }
00014 
00015 GenericObjectHandler::~GenericObjectHandler(){
00016 }
00017 
00018 void GenericObjectHandler::setID(int newID){
00019     _id=newID;
00020 }
00021 
00022 int GenericObjectHandler::getID(){
00023     return(_id);
00024 }
00025 
00026 void GenericObjectHandler::setAssociatedObject(int objID,int objUniqueID){
00027     _associatedObjectID=objID;
00028     _associatedObjectUniqueID=objUniqueID;
00029 }
00030 
00031 int GenericObjectHandler::getAssociatedObject(){
00032     return(_associatedObjectID);
00033 }
00034 
00035 int GenericObjectHandler::getAssociatedObjectUniqueId(){
00036     return(_associatedObjectUniqueID);
00037 }
00038 
00039 void GenericObjectHandler::synchronizeSceneObject(){
00040     // We update GenericObjectHandler's associated scene object custom data:
00041 //    putTagToSceneObject(_associatedObjectID,0.0);
00042 }
00043 
00044 void GenericObjectHandler::synchronize(){
00045 }
00046 
00047 void GenericObjectHandler::getDeveloperCustomData(std::vector<unsigned char> &developerCustomData){
00048     const uint buffSize=simGetObjectCustomDataLength(_associatedObjectID,CustomDataHeaders::DEVELOPER_DATA_HEADER);
00049     developerCustomData.resize(buffSize);
00050     simGetObjectCustomData(_associatedObjectID,CustomDataHeaders::DEVELOPER_DATA_HEADER,(simChar*)developerCustomData.data());
00051 }
00052 
00053 
00054 void GenericObjectHandler::startOfSimulation(){
00055     _initialize();
00056 }
00057 
00058 bool GenericObjectHandler::endOfSimulation(){
00059     _initialized=false;
00060     return(false); // We don't want this object automatically destroyed at the end of simulation
00061 }


vrep_ros_plugin
Author(s): Riccardo Spica , Giovanni Claudio
autogenerated on Sat Jun 8 2019 20:22:41