gazebo::CustomSensorPreloader Class Reference

Gazebo system plugin which allows using custom sensors. More...

#include <CustomSensorPreloader.h>

Inheritance diagram for gazebo::CustomSensorPreloader:

Public Member Functions
	CustomSensorPreloader ()
void	Init () override
void	Load (int _argc, char **_argv) override
void	Reset () override
	~CustomSensorPreloader () override

Protected Types
typedef void(*	registerFuncType) ()
	Type of the RegisterCustomSensor function generated by GZ_REGISTER_STATIC_SENSOR. More...
typedef std::tuple< registerFuncType, std::string, std::string, std::string >	registerTuple
	Registration function, type, classname, fullname. More...

Protected Member Functions
virtual void	DeferredPreloadSensors ()
	We need to register the sensors a little bit later, so we defer the calls to a separate thread. More...
virtual void	ProcessCustomSensor (const std::string &_type, const std::string &_classname, const std::string &_fullname)
	Store one custom sensor registration function for deferred loading. More...

Protected Attributes
std::unique_ptr< std::thread >	deferredLoadThread
	This thread performs the deferred preloading. More...
std::unordered_set< std::shared_ptr< registerTuple > >	sensorsToRegister
	A set of sensors waiting for deferred registration. More...

Detailed Description

Gazebo system plugin which allows using custom sensors.

Definition at line 17 of file CustomSensorPreloader.h.

Member Typedef Documentation

registerFuncType

typedef void(* gazebo::CustomSensorPreloader::registerFuncType) ()

protected

Type of the RegisterCustomSensor function generated by GZ_REGISTER_STATIC_SENSOR.

Definition at line 32 of file CustomSensorPreloader.h.

registerTuple

typedef std::tuple<registerFuncType, std::string, std::string, std::string> gazebo::CustomSensorPreloader::registerTuple

protected

Registration function, type, classname, fullname.

Definition at line 49 of file CustomSensorPreloader.h.

Constructor & Destructor Documentation

CustomSensorPreloader()

gazebo::CustomSensorPreloader::CustomSensorPreloader ( )

default

~CustomSensorPreloader()

gazebo::CustomSensorPreloader::~CustomSensorPreloader ( )

override

Definition at line 20 of file CustomSensorPreloader.cpp.

Member Function Documentation

DeferredPreloadSensors()

void gazebo::CustomSensorPreloader::DeferredPreloadSensors ( )

protectedvirtual

We need to register the sensors a little bit later, so we defer the calls to a separate thread.

Definition at line 108 of file CustomSensorPreloader.cpp.

Init()

void gazebo::CustomSensorPreloader::Init ( )

override

Definition at line 28 of file CustomSensorPreloader.cpp.

Load()

void gazebo::CustomSensorPreloader::Load ( int  _argc, char **  _argv  )

override

Definition at line 218 of file CustomSensorPreloader.cpp.

ProcessCustomSensor()

void gazebo::CustomSensorPreloader::ProcessCustomSensor ( const std::string &  _type, const std::string &  _classname, const std::string &  _fullname  )

protectedvirtual

Store one custom sensor registration function for deferred loading.

Parameters

[in]	_type	Type of the sensor used in SDF to refer to it.
[in]	_classname	Name of the sensor's implementation class (without namespace).
[in]	_fullname	Absolute path to the dynamic library with the sensor.

Definition at line 152 of file CustomSensorPreloader.cpp.

Reset()

void gazebo::CustomSensorPreloader::Reset ( )

override

Definition at line 224 of file CustomSensorPreloader.cpp.

Member Data Documentation

deferredLoadThread

std::unique_ptr<std::thread> gazebo::CustomSensorPreloader::deferredLoadThread

protected

This thread performs the deferred preloading.

Definition at line 46 of file CustomSensorPreloader.h.

sensorsToRegister

std::unordered_set<std::shared_ptr<registerTuple> > gazebo::CustomSensorPreloader::sensorsToRegister

protected

A set of sensors waiting for deferred registration.

Definition at line 51 of file CustomSensorPreloader.h.

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The documentation for this class was generated from the following files:

• CustomSensorPreloader.h
• CustomSensorPreloader.cpp