bool_sensor.h

/*
 *  ______                   __  __              __
 * /\  _  \           __    /\ \/\ \            /\ \__
 * \ \ \L\ \  __  __ /\_\   \_\ \ \ \____    ___\ \ ,_\   ____
 *  \ \  __ \/\ \/\ \\/\ \  /'_` \ \ '__`\  / __`\ \ \/  /',__\
 *   \ \ \/\ \ \ \_/ |\ \ \/\ \L\ \ \ \L\ \/\ \L\ \ \ \_/\__, `\
 *    \ \_\ \_\ \___/  \ \_\ \___,_\ \_,__/\ \____/\ \__\/\____/
 *     \/_/\/_/\/__/    \/_/\/__,_ /\/___/  \/___/  \/__/\/___/
 * @copyright Copyright 2017 Avidbots Corp.
 * @name    bool_sensor.h
 * @brief   Boolean Sensor plugin - publishes true if body is in collision
 * @author  Chunshang Li
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2017, Avidbots Corp.
 *  All rights reserved.
 *
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 *  modification, are permitted provided that the following conditions
 *  are met:
 *
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 *     with the distribution.
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#include <flatland_plugins/update_timer.h>
#include <flatland_server/model_plugin.h>
#include <ros/ros.h>
#include <std_msgs/Bool.h>

#ifndef FLATLAND_PLUGINS_BOOL_SENSOR_H
#define FLATLAND_PLUGINS_BOOL_SENSOR_H

using namespace flatland_server;

namespace flatland_plugins {

class BoolSensor : public ModelPlugin {
 public:
  Body *body_;          
  double update_rate_;  

  UpdateTimer update_timer_;    
  int collisions_ = 0;          
  bool hit_something_ = false;  

  ros::Publisher publisher_;  

  void OnInitialize(const YAML::Node &config) override;

  void AfterPhysicsStep(const Timekeeper &timekeeper) override;

  void BeginContact(b2Contact *contact) override;

  void EndContact(b2Contact *contact) override;
};
};

#endif