ContactWorldPlugin.hh

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#ifndef _CONTACT_WORLD_PLUGIN_HH_
#define _CONTACT_WORLD_PLUGIN_HH_

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

// Custom messages
#include "contact_request.pb.h"
#include "contact_response.pb.h"

namespace ContactWorldPlugin {

    // Plugin messages

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

namespace gazebo {

    typedef grasp::msgs::ContactRequest ContactRequest;
    typedef const boost::shared_ptr<const grasp::msgs::ContactRequest>
        ContactRequestPtr;
    typedef grasp::msgs::ContactResponse ContactResponse;
    typedef const boost::shared_ptr<const grasp::msgs::ContactResponse>
        ContactResponsePtr;

    // Forward declaration of private data class
    class ContactWorldPluginPrivate;

    class ContactWorldPlugin : public WorldPlugin
    {
        // Private attributes

        private: std::unique_ptr<ContactWorldPluginPrivate> data_ptr;

        private: physics::WorldPtr world;
        private: event::ConnectionPtr update_connection;

        private: bool recv_msg  {false};
        private: bool enabled   {false};
        private: boost::shared_ptr<ContactRequest const> msg_req;

        // Public methods

        public: ContactWorldPlugin();

        public: virtual ~ContactWorldPlugin();

        public: virtual void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf);

        public: void onUpdate();

        public: void onContact(ConstContactsPtr & _msg);

        public: void onRequest(ContactRequestPtr & _msg);

        public: void onResponse(ContactResponsePtr & _msg);

        public: void checkCollision(ContactResponse & _msg);

        public: void changeSurface(ContactResponse & _msg);
    };
}

#endif