flatland_plugin.h

/*
 *  ______                   __  __              __
 * /\  _  \           __    /\ \/\ \            /\ \__
 * \ \ \L\ \  __  __ /\_\   \_\ \ \ \____    ___\ \ ,_\   ____
 *  \ \  __ \/\ \/\ \\/\ \  /'_` \ \ '__`\  / __`\ \ \/  /',__\
 *   \ \ \/\ \ \ \_/ |\ \ \/\ \L\ \ \ \L\ \/\ \L\ \ \ \_/\__, `\
 *    \ \_\ \_\ \___/  \ \_\ \___,_\ \_,__/\ \____/\ \__\/\____/
 *     \/_/\/_/\/__/    \/_/\/__,_ /\/___/  \/___/  \/__/\/___/
 * @copyright Copyright 2017 Avidbots Corp.
 * @name  flatland_plugin.h
 * @brief Interface for Flatland pluginlib plugins
 * @author Yi Ren
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2017, Avidbots Corp.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
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 *     notice, this list of conditions and the following disclaimer.
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 *      copyright notice, this list of conditions and the following
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 *     with the distribution.
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 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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#ifndef FLATLAND_SERVER_FLATLAND_PLUGIN_H
#define FLATLAND_SERVER_FLATLAND_PLUGIN_H

#include <Box2D/Box2D.h>
#include <flatland_server/timekeeper.h>
#include <ros/ros.h>
#include <yaml-cpp/yaml.h>
#include <string>

namespace flatland_server {
class FlatlandPlugin {
 public:
  enum class PluginType { Invalid, Model, World };  // Different plugin Types
  std::string type_;                                
  std::string name_;                                
  ros::NodeHandle nh_;                              // ROS node handle
  PluginType plugin_type_;

  /*
  * @brief Get PluginType
  */
  const PluginType Type() { return plugin_type_; }

  const std::string &GetName() const { return name_; }

  const std::string &GetType() const { return type_; }

  virtual void OnInitialize(const YAML::Node &config) = 0;

  virtual void BeforePhysicsStep(const Timekeeper &timekeeper) {}

  virtual void AfterPhysicsStep(const Timekeeper &timekeeper) {}

  virtual void BeginContact(b2Contact *contact) {}

  virtual void EndContact(b2Contact *contact) {}

  virtual void PreSolve(b2Contact *contact, const b2Manifold *oldManifold) {}

  virtual void PostSolve(b2Contact *contact, const b2ContactImpulse *impulse) {}

  virtual ~FlatlandPlugin() = default;
};
};  // namespace

#endif  // FLATLAND_SERVER_FLATLAND_PLUGIN_H