ContactWorldPlugin Class Reference

Contact manager world plugin. More...

#include <ContactWorldPlugin.hh>

Public Member Functions
	ContactWorldPlugin ()
	Constructs the object. More...
virtual	~ContactWorldPlugin ()
	Destroys the object. More...
virtual void	Load (physics::WorldPtr _world, sdf::ElementPtr _sdf)
	Loads the plugin. More...
void	onUpdate ()
	Callback on world update event Processes stored request, unsubscribes from contacts topic and clears messages. More...
void	onContact (ConstContactsPtr &_msg)
	Callback on contact message received event Stores message for later processing in update callback. More...
void	onRequest (ContactRequestPtr &_msg)
	Callback function for handling incoming requests Subscribes to "~/physics/contacts" topic, which decreases performance. Incoming contact messages are monitored in onContact callback function. More...
void	onResponse (ContactResponsePtr &_msg)
	Callback function for handling outgoing responses. More...
void	checkCollision (ContactResponse &_msg)
	Check for collisions and update response message. More...
void	changeSurface (ContactResponse &_msg)
	Changes surface property from message. More...

Private Attributes
std::unique_ptr< ContactWorldPluginPrivate >	data_ptr
	Class with private attributes. More...
physics::WorldPtr	world
	World pointer. More...
event::ConnectionPtr	update_connection
	Connection to world update event. More...
bool	recv_msg {false}
	Flag for message received. More...
bool	enabled {false}
	Flag for resetting contacts topic subscriber. More...
boost::shared_ptr< ContactRequest const >	msg_req
	Last received request message. More...

Detailed Description

Contact manager world plugin.

Constructor & Destructor Documentation

ContactWorldPlugin

(

)

Constructs the object.

~ContactWorldPlugin ( )

virtual

Destroys the object.

Member Function Documentation

void changeSurface

(

ContactResponse &

_msg

)

Changes surface property from message.

Parameters

_msg	Input message

Deprecated:

Redundant feature already implemented in external dependency

void checkCollision

(

ContactResponse &

_msg

)

Check for collisions and update response message.

Parameters

_msg	Output message

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

virtual

Loads the plugin.

Parameters

_world	The world pointer
_sdf	The sdf element pointer

void onContact

(

ConstContactsPtr &

_msg

)

Callback on contact message received event Stores message for later processing in update callback.

Parameters

_msg	Received message

void onRequest

(

ContactRequestPtr &

_msg

)

Callback function for handling incoming requests Subscribes to "~/physics/contacts" topic, which decreases performance. Incoming contact messages are monitored in onContact callback function.

Parameters

_msg	The message

void onResponse

(

ContactResponsePtr &

_msg

)

Callback function for handling outgoing responses.

Parameters

_msg	The message

void onUpdate

(

)

Callback on world update event Processes stored request, unsubscribes from contacts topic and clears messages.

Member Data Documentation

std::unique_ptr<ContactWorldPluginPrivate> data_ptr

private

Class with private attributes.

bool enabled {false}

private

Flag for resetting contacts topic subscriber.

boost::shared_ptr<ContactRequest const> msg_req

private

Last received request message.

bool recv_msg {false}

private

Flag for message received.

event::ConnectionPtr update_connection

private

Connection to world update event.

physics::WorldPtr world

private

World pointer.

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

• ContactWorldPlugin.hh
• ContactWorldPlugin.cc