SideContactPlugin.hh

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/*
 * Copyright (C) 2012-2016 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.
 *
*/
/*
 * Desc: Plugin for monitoring the side of a ContactSensor
 * Author: Deanna Hood
 */
#ifndef _GAZEBO_SIDE_CONTACT_PLUGIN_HH_
#define _GAZEBO_SIDE_CONTACT_PLUGIN_HH_

#include <gazebo/common/Plugin.hh>
#include <gazebo/common/UpdateInfo.hh>
#include <gazebo/sensors/sensors.hh>
#include <gazebo/transport/Node.hh>
#include <gazebo/transport/Publisher.hh>
#include <gazebo/util/system.hh>

namespace gazebo
{
  class GAZEBO_VISIBLE SideContactPlugin : public ModelPlugin
  {
    public: SideContactPlugin();

    public: virtual ~SideContactPlugin();

    public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);

    protected: virtual void OnContactsReceived(ConstContactsPtr& _msg);

    protected: virtual void OnUpdate(const common::UpdateInfo &_info);

    protected: event::ConnectionPtr updateConnection;

    protected: std::string contactSensorName;

    protected: std::string scopedContactSensorName;

    protected: sensors::ContactSensorPtr parentSensor;

    protected: ignition::math::Vector3d sideNormal;

    protected: physics::WorldPtr world;

    protected: physics::ModelPtr model;

    protected: transport::NodePtr node;

    protected: transport::SubscriberPtr contactSub;

    protected: msgs::Contacts newestContactsMsg;

    protected: mutable boost::mutex mutex;

    protected: bool newMsg;

    protected: std::string collisionName;

    protected: physics::LinkPtr parentLink;

    protected: std::set<physics::LinkPtr> contactingLinks;

    protected: std::set<physics::ModelPtr> contactingModels;

    protected: bool FindContactSensor();

    protected: virtual void CalculateContactingLinks();

    protected: virtual void CalculateContactingModels();

  };
}
#endif