VacuumGripperPlugin.hh

Go to the documentation of this file.

/*
 * 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_VACUUM_GRIPPER_PLUGIN_HH_
#define _GAZEBO_VACUUM_GRIPPER_PLUGIN_HH_

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

namespace gazebo
{
  class VacuumGripperPluginPrivate;

  class GAZEBO_VISIBLE VacuumGripperPlugin : public ModelPlugin
  {
    public: explicit VacuumGripperPlugin();

    public: virtual ~VacuumGripperPlugin();

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

    public: virtual void Reset();

    public: std::string Name() const;

    public: bool Enabled() const;

    public: bool Attached() const;

    public: void Enable();

    public: void Disable();

    private: void OnUpdate();

    private: void OnContacts(ConstContactsPtr &_msg);

    private: void HandleAttach();

    private: void HandleDetach();

    private: virtual void Publish() const;

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