Program Listing for File ign_ros2_control_plugin.hpp
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// Copyright 2021 Open Source Robotics Foundation, Inc.
//
// 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_ROS2_CONTROL__IGN_ROS2_CONTROL_PLUGIN_HPP_
#define IGN_ROS2_CONTROL__IGN_ROS2_CONTROL_PLUGIN_HPP_
#include <memory>
#include <ignition/gazebo/System.hh>
namespace ign_ros2_control
{
// Forward declarations.
class IgnitionROS2ControlPluginPrivate;
class IgnitionROS2ControlPlugin
: public ignition::gazebo::System,
public ignition::gazebo::ISystemConfigure,
public ignition::gazebo::ISystemPreUpdate,
public ignition::gazebo::ISystemPostUpdate
{
public:
IgnitionROS2ControlPlugin();
~IgnitionROS2ControlPlugin() 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;
void PostUpdate(
const ignition::gazebo::UpdateInfo & _info,
const ignition::gazebo::EntityComponentManager & _ecm) override;
private:
std::unique_ptr<IgnitionROS2ControlPluginPrivate> dataPtr;
};
} // namespace ign_ros2_control
#endif // IGN_ROS2_CONTROL__IGN_ROS2_CONTROL_PLUGIN_HPP_