gz_ros2_control_plugin.hpp

// Copyright 2021 Open Source Robotics Foundation, Inc.
//
// 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 GZ_ROS2_CONTROL__GZ_ROS2_CONTROL_PLUGIN_HPP_
#define GZ_ROS2_CONTROL__GZ_ROS2_CONTROL_PLUGIN_HPP_
 
#include <memory>
 
#ifdef GZ_HEADERS
#include <gz/sim/System.hh>
namespace sim = gz::sim;
#else
#include <ignition/gazebo/System.hh>
namespace sim = ignition::gazebo;
#endif
 
namespace gz_ros2_control
{
// Forward declarations.
class GazeboSimROS2ControlPluginPrivate;
 
class GazeboSimROS2ControlPlugin
  : public sim::System,
  public sim::ISystemConfigure,
  public sim::ISystemPreUpdate,
  public sim::ISystemPostUpdate
{
public:
  GazeboSimROS2ControlPlugin();
 
  ~GazeboSimROS2ControlPlugin() override;
 
  // Documentation inherited
  void Configure(
    const sim::Entity & _entity,
    const std::shared_ptr<const sdf::Element> & _sdf,
    sim::EntityComponentManager & _ecm,
    sim::EventManager & _eventMgr) override;
 
  // Documentation inherited
  void PreUpdate(
    const sim::UpdateInfo & _info,
    sim::EntityComponentManager & _ecm) override;
 
  void PostUpdate(
    const sim::UpdateInfo & _info,
    const sim::EntityComponentManager & _ecm) override;
 
private:
  std::unique_ptr<GazeboSimROS2ControlPluginPrivate> dataPtr;
};
}  // namespace gz_ros2_control
 
#endif  // GZ_ROS2_CONTROL__GZ_ROS2_CONTROL_PLUGIN_HPP_