Program Listing for File SuctionGripper.hpp

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// Copyright 2024 Universidad Politécnica de Madrid
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/*
 * Copyright (C) 2022 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 AS2_SIMULATION_ASSETS__AS2_GAZEBO_ASSETS__PLUGINS__SUCTIONGRIPPER_HPP_
#define AS2_SIMULATION_ASSETS__AS2_GAZEBO_ASSETS__PLUGINS__SUCTIONGRIPPER_HPP_

#include <memory>
#include <string>
#include <utility>
#include <gz/gazebo/System.hh>

namespace mbzirc
{
class SuctionGripperPrivate;

class SuctionGripperPlugin : public ignition::gazebo::System,
  public ignition::gazebo::ISystemConfigure,
  public ignition::gazebo::ISystemPreUpdate
{
public:
  SuctionGripperPlugin();

public:
  ~SuctionGripperPlugin();

public:
  void Configure(
    const ignition::gazebo::Entity & _entity,
    const std::shared_ptr<const sdf::Element> & _sdf,
    ignition::gazebo::EntityComponentManager & _ecm,
    ignition::gazebo::EventManager & _eventMgr) override;

public:
  void PreUpdate(
    const ignition::gazebo::UpdateInfo & _info,
    ignition::gazebo::EntityComponentManager & _ecm) override;

public:
  std::unique_ptr<SuctionGripperPrivate> dataPtr;
};
}  // namespace mbzirc

#endif  // AS2_SIMULATION_ASSETS__AS2_GAZEBO_ASSETS__PLUGINS__SUCTIONGRIPPER_HPP_