ContactSensorPlugin.hh

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#ifndef _CONTACT_SENSOR_PLUGIN_HH_
#define _CONTACT_SENSOR_PLUGIN_HH_

// Gazebo
#include "gazebo/common/Plugin.hh"
#include <gazebo/msgs/msgs.hh>
#include <gazebo/transport/transport.hh>
#include <gazebo/sensors/sensors.hh>

// Custom messages
#include "contact_sensor_request.pb.h"
#include "contact_sensor_response.pb.h"

namespace ContactSensorPlugin {

    // Plugin messages

    #define REQUEST_TOPIC   "~/grasp/contact"
    #define RESPONSE_TOPIC  "~/grasp/contact/response"

    #define REQ_IN_CONTACT   grasp::msgs::ContactSensorRequest::IN_CONTACT

    #define RES_IN_CONTACT   grasp::msgs::ContactSensorResponse::IN_CONTACT
}

namespace gazebo {

    typedef grasp::msgs::ContactSensorRequest ContactSensorRequest;
    typedef const boost::shared_ptr<const grasp::msgs::ContactSensorRequest>
        ContactSensorRequestPtr;
    typedef grasp::msgs::ContactSensorResponse ContactSensorResponse;
    typedef const boost::shared_ptr<const grasp::msgs::ContactSensorResponse>
        ContactSensorResponsePtr;

    // Forward declaration of private data class
    class ContactSensorPluginPrivate;

    class ContactSensorPlugin : public SensorPlugin
    {
        // Private attributes

        private: std::unique_ptr<ContactSensorPluginPrivate> data_ptr;
        private: sensors::ContactSensorPtr sensor;
        private: event::ConnectionPtr update_connection;

        // Public methods

        public: ContactSensorPlugin();

        public: virtual ~ContactSensorPlugin();

        public: virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);

        public: void onUpdate();

        public: void onRequest(ContactSensorRequestPtr & _msg);

        private: bool inContact(std::string & name);

    };
}

#endif