OccupiedEventSource Class Reference

A plugin that transmits a message when an in-region event occurs. More...

#include <OccupiedEventSource.hh>

Inherits EventSource.

Public Member Functions
	OccupiedEventSource (transport::PublisherPtr _pub, physics::WorldPtr _world, const std::map< std::string, RegionPtr > &_regions)
	~OccupiedEventSource ()=default
	Destructor. More...
void	Emit (const std::string &_data) const
	emit an event with data to the internal publisher (and using the internal type) More...
virtual void	Init ()
	Initialize the event. More...
virtual bool	IsActive () const
	An event source can be used to enable other events. More...
virtual void	Load (const sdf::ElementPtr _sdf)
	Load from an sdf element (with possible configuration data) More...

Public Attributes
msgs::GzString	msg
	String message that is transmitted when an event occurs. More...
transport::PublisherPtr	msgPub
	Publisher that transmits the message when an event occurs. More...

Protected Attributes
bool	active
	True if the event source is active. More...
std::string	name
	Name of the event. More...
transport::PublisherPtr	pub
	a way to send messages to the other topics (to the REST) More...
std::string	type
	Type of event. More...
physics::WorldPtr	world
	Pointer to the world. More...

Detailed Description

A plugin that transmits a message when an in-region event occurs.

Events are specified in SDF. The following is example usage:

///    <plugin filename="libSimEventsPlugin.so" name="event_plugin">
///      <region>
///        <name>region1</name>
///        <volume>
///          <min>1.5 -1 0</min>
///          <max>2.5 1 1</max>
///        </volume>
///      </region>
///
///      <event>
///        <name>region1_event</name>
///        <type>occupied</type>
///        <topic>~/elevator</topic>
///        <region>region1</region>
///        <msg_data>0</msg_data>
///      </event>
///   </plugin>
/// 

Constructor & Destructor Documentation

OccupiedEventSource()

OccupiedEventSource	(	transport::PublisherPtr	_pub,
		physics::WorldPtr	_world,
		const std::map< std::string, RegionPtr > &	_regions
	)

~OccupiedEventSource()

~OccupiedEventSource ( )

default

Destructor.

Member Function Documentation

Emit()

void Emit ( const std::string &  _data ) const

inherited

emit an event with data to the internal publisher (and using the internal type)

Parameters

[in]

_data

the JSON data related to this event.

Init()

virtual void Init ( )

virtualinherited

Initialize the event.

Reimplemented in JointEventSource, and InRegionEventSource.

IsActive()

virtual bool IsActive ( ) const

virtualinherited

An event source can be used to enable other events.

Inactive events do not generate an message when Emit is called.

Returns

true if the event is active

Load()

virtual void Load ( const sdf::ElementPtr  _sdf )

virtual

Load from an sdf element (with possible configuration data)

Parameters

[in]

_sdf

the sdf element for the event in the world file

Reimplemented from EventSource.

Member Data Documentation

active

bool active

protectedinherited

True if the event source is active.

Inactive event sources do not emit events

msg

msgs::GzString msg

String message that is transmitted when an event occurs.

msgPub

transport::PublisherPtr msgPub

Publisher that transmits the message when an event occurs.

name

std::string name

protectedinherited

Name of the event.

pub

transport::PublisherPtr pub

protectedinherited

a way to send messages to the other topics (to the REST)

type

std::string type

protectedinherited

Type of event.

world

physics::WorldPtr world

protectedinherited

Pointer to the world.

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

• OccupiedEventSource.hh