RegionEventBoxPlugin.hh

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/*
 * Copyright (C) 2015-2016 Open Source Robotics Foundation
 *
 * 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 _GAZEBO_REGION_EVENT_BOX_PLUGIN_HH_
#define _GAZEBO_REGION_EVENT_BOX_PLUGIN_HH_

#ifdef _WIN32
  // Ensure that Winsock2.h is included before Windows.h, which can get
  // pulled in by anybody (e.g., Boost).
#include <Winsock2.h>
#endif

#include <map>
#include <string>

#include <gazebo/physics/physics.hh>
#include <gazebo/common/Plugin.hh>

#include "EventSource.hh"

namespace gazebo
{
  class RegionEventBoxPlugin : public ModelPlugin
  {
    public: RegionEventBoxPlugin();

    // Documentation Inherited.
    public: void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);

    public: void OnModelMsg(ConstModelPtr &_msg);

    public: void OnUpdate(const common::UpdateInfo &_info);

    private: bool PointInRegion(const ignition::math::Vector3d &_point,
        const ignition::math::Box &_box, const ignition::math::Pose3d &_pose)
        const;

    private: void UpdateRegion(const ignition::math::Vector3d &_size,
        const ignition::math::Pose3d &_pose);

    private: void SendEnteringRegionEvent(physics::ModelPtr _model) const;

    private: void SendExitingRegionEvent(physics::ModelPtr _model) const;

    private: physics::WorldPtr world;

    private: physics::ModelPtr model;

    private: event::ConnectionPtr updateConnection;

    private: std::string modelName;

    public: transport::NodePtr node;

    public: std::mutex receiveMutex;

    private: ignition::math::Vector3d boxSize;

    private: ignition::math::Vector3d boxScale;

    private: ignition::math::Pose3d boxPose;

    private: ignition::math::Box box;

    private: transport::SubscriberPtr modelSub;

    private: bool hasStaleSizeAndPose;

    private: std::map<std::string, common::Time> insiders;

    private: transport::PublisherPtr eventPub;

    private: gazebo::EventSourcePtr eventSource;
  };
}

#endif