PopulationPlugin.hh

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/*
 * Copyright (C) 2016 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 GAZEBO_POPULATION_PLUGIN_HH_
#define GAZEBO_POPULATION_PLUGIN_HH_

#include <memory>
#include <gazebo/common/Plugin.hh>
#include <gazebo/msgs/gz_string.pb.h>
#include <gazebo/physics/PhysicsTypes.hh>
#include <sdf/sdf.hh>

namespace gazebo
{
  // Forward declare private data class
  class PopulationPluginPrivate;




  class GAZEBO_VISIBLE PopulationPlugin : public WorldPlugin
  {
    public: PopulationPlugin();

    public: virtual ~PopulationPlugin();

    // Documentation inherited.
    public: virtual void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf);

    public: void Pause();

    public: void Resume();

    public: virtual void Restart();

    protected: void OnUpdate();

    protected: void OnActivation(ConstGzStringPtr &_msg);

    protected: bool Enabled() const;

    private: virtual void Publish() const;

    private: std::unique_ptr<PopulationPluginPrivate> dataPtr;
  };
}
#endif