model_plugin.h

/*
 *  ______                   __  __              __
 * /\  _  \           __    /\ \/\ \            /\ \__
 * \ \ \L\ \  __  __ /\_\   \_\ \ \ \____    ___\ \ ,_\   ____
 *  \ \  __ \/\ \/\ \\/\ \  /'_` \ \ '__`\  / __`\ \ \/  /',__\
 *   \ \ \/\ \ \ \_/ |\ \ \/\ \L\ \ \ \L\ \/\ \L\ \ \ \_/\__, `\
 *    \ \_\ \_\ \___/  \ \_\ \___,_\ \_,__/\ \____/\ \__\/\____/
 *     \/_/\/_/\/__/    \/_/\/__,_ /\/___/  \/___/  \/__/\/___/
 * @copyright Copyright 2017 Avidbots Corp.
 * @name  model_plugin.h
 * @brief Interface for ModelPlugin pluginlib plugins
 * @author Joseph Duchesne
 *
 * Software License Agreement (BSD License)
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 *  Copyright (c) 2017, Avidbots Corp.
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#ifndef FLATLAND_SERVER_MODEL_PLUGIN_H
#define FLATLAND_SERVER_MODEL_PLUGIN_H

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

namespace flatland_server {

class ModelPlugin : public FlatlandPlugin {
 private:
  Model *model_;  

 public:
  ros::NodeHandle nh_;  

  Model *GetModel();

  void Initialize(const std::string &type, const std::string &name,
                  Model *model, const YAML::Node &config);

  bool FilterContact(b2Contact *contact, Entity *&entity,
                     b2Fixture *&this_fixture, b2Fixture *&other_fixture);

  bool FilterContact(b2Contact *contact);

 protected:
  ModelPlugin() = default;
};
};      // namespace flatland_server
#endif  // FLATLAND_SERVER_MODEL_PLUGIN_H