ign_ros_control_plugin.hpp

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// Copyright 2022 The ros_control team.
//
// 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 IGN_ROS_CONTROL__IGN_ROS_CONTROL_PLUGIN_HPP_
#define IGN_ROS_CONTROL__IGN_ROS_CONTROL_PLUGIN_HPP_
 
#include <ignition/gazebo/System.hh>
 
#include <memory>
 
namespace ign_ros_control
{
// Forward declarations.
class IgnitionROSControlPluginPrivate;
 
class IgnitionROSControlPlugin :
    public ignition::gazebo::System,
    public ignition::gazebo::ISystemConfigure,
    public ignition::gazebo::ISystemPreUpdate,
    public ignition::gazebo::ISystemPostUpdate
{
public:
 
  IgnitionROSControlPlugin();
 
  ~IgnitionROSControlPlugin() override;
 
  // Documentation inherited
  void Configure(
      const ignition::gazebo::Entity & _entity,
      const std::shared_ptr<const sdf::Element> & _sdf,
      ignition::gazebo::EntityComponentManager & _ecm,
      ignition::gazebo::EventManager & _eventMgr) override;
 
  // Documentation inherited
  void PreUpdate(
      const ignition::gazebo::UpdateInfo & _info,
      ignition::gazebo::EntityComponentManager & _ecm) override;
 
  // Documentation inherited
  void PostUpdate(
      const ignition::gazebo::UpdateInfo & _info,
      const ignition::gazebo::EntityComponentManager & _ecm) override;
 
private:
  std::unique_ptr<IgnitionROSControlPluginPrivate> dataPtr;
};
}  // namespace ign_ros_control
 
#endif  // IGN_ROS_CONTROL__IGN_ROS_CONTROL_PLUGIN_HPP_