camera_contains_plugin.h

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#ifndef GAZEBO_VIDEO_MONITOR_PLUGINS_CAMERA_CONTAINS_PLUGIN_H
#define GAZEBO_VIDEO_MONITOR_PLUGINS_CAMERA_CONTAINS_PLUGIN_H
 
#include <vector>
 
#include <ros/callback_queue.h>
#include <ros/ros.h>
 
#include <gazebo/common/Plugin.hh>
#include <gazebo/physics/physics.hh>
 
#include <gazebo_video_monitor_msgs/Strings.h>
#include <gazebo_video_monitor_plugins/utils/box_marker_visualizer.h>
 
namespace gazebo {
 
class CameraContainsPlugin : public WorldPlugin {
 public:
  CameraContainsPlugin();
  void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf) override;
 
 private:
  bool contains(const std::string &name) const;
  void onUpdate(const common::UpdateInfo &info);
 
  std::string logger_prefix_;
 
  physics::WorldPtr world_;
 
  std::vector<std::string> tracked_models_;
  std::vector<std::string> cameras_;
  ignition::math::OrientedBoxd container_;
 
  ros::NodeHandlePtr nh_;
  ros::CallbackQueue callback_queue_;
  ros::AsyncSpinner spinner_;
 
  ros::Publisher publisher_;
  gazebo_video_monitor_msgs::Strings msg_;
  bool contains_model_;
 
  BoxMarkerVisualizerPtr container_visualizer_;
 
  double update_period_;
  common::Time last_update_time_;
  event::ConnectionPtr update_connection_;
};
 
}  // namespace gazebo
 
#endif  // GAZEBO_VIDEO_MONITOR_PLUGINS_CAMERA_CONTAINS_PLUGIN_H