Collaboration diagram for smacc2::FlashLightSettingPrivate:

Public Member Functions
	FlashLightSettingPrivate ()
	Constructor. More...

gazebo::physics::LinkPtr	FindLinkForLight (const gazebo::physics::ModelPtr &_model, const std::string &_lightName, const std::string &_linkName)
	Find the link holding the light to control. If multiple models are nested, this function is recursively called until the link is found. More...

Public Attributes
std::string	name
	The name of flash light. More...

gazebo::physics::LinkPtr	link
	Link which holds this flash light. More...

gazebo::common::Time	startTime
	The time at which the current phase started. More...

bool	switchOn
	The current switch state (the light itself is active or not). More...

bool	flashing
	The current flasshing state (flash or dim). More...

double	range
	The length of the ray (in meters). More...

gazebo::transport::PublisherPtr	pubLight
	The pointer to publisher to send a command to a light. More...

msgs::Light	msg
	A message holding a flashlight command. More...

bool	lightExists
	True if <light> element exists. More...

std::vector< std::shared_ptr< Block > >	blocks
	The list of blocks of light. More...

int	currentBlockIndex
	the index of the current block. More...

Detailed Description

Definition at line 52 of file FlashLightPlugin.cc.

Constructor & Destructor Documentation

◆ FlashLightSettingPrivate()

smacc2::FlashLightSettingPrivate::FlashLightSettingPrivate ( )

inline

Constructor.

Definition at line 55 of file FlashLightPlugin.cc.

          : FlashLightSettingPrivate():
      switchOn(true), flashing(true), range(0),
      lightExists(false), currentBlockIndex(0)
    {
    }

Member Function Documentation

◆ FindLinkForLight()

gazebo::physics::LinkPtr smacc2::FlashLightSettingPrivate::FindLinkForLight	(	const gazebo::physics::ModelPtr &	_model,
		const std::string &	_lightName,
		const std::string &	_linkName
	)

inline

Find the link holding the light to control. If multiple models are nested, this function is recursively called until the link is found.

Parameters

[in]	_model	A model to check.
[in]	_lightName	the name of the light.
[in]	_linkName	the name of the link.

Returns: A pointer to the link. If not found, nullptr is returned.

Definition at line 68 of file FlashLightPlugin.cc.

          : gazebo::physics::LinkPtr FindLinkForLight(
      const gazebo::physics::ModelPtr &_model,
      const std::string &_lightName, const std::string &_linkName)
    {
      auto childLink = _model->GetChildLink(_linkName);
      if (childLink && childLink->GetSDF()->HasElement("light"))
      {
        auto sdfLight = childLink->GetSDF()->GetElement("light");
        while (sdfLight)
        {
          if (sdfLight->Get<std::string>("name") == _lightName)
          {
            return childLink;
          }
          sdfLight = sdfLight->GetNextElement("light");
        }
      }
      for (auto model: _model->NestedModels())
      {
        auto foundLink = this->FindLinkForLight(model, _lightName, _linkName);
        if (foundLink)
        {
          return foundLink;
        }
      }
 
      return nullptr;
    }

References FindLinkForLight().

Referenced by FindLinkForLight().

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

◆ blocks

std::vector< std::shared_ptr<Block> > smacc2::FlashLightSettingPrivate::blocks

The list of blocks of light.

Definition at line 125 of file FlashLightPlugin.cc.

◆ currentBlockIndex

int smacc2::FlashLightSettingPrivate::currentBlockIndex

the index of the current block.

Definition at line 128 of file FlashLightPlugin.cc.

◆ flashing

bool smacc2::FlashLightSettingPrivate::flashing

The current flasshing state (flash or dim).

Definition at line 110 of file FlashLightPlugin.cc.

◆ lightExists

bool smacc2::FlashLightSettingPrivate::lightExists

True if <light> element exists.

Definition at line 122 of file FlashLightPlugin.cc.

◆ link

gazebo::physics::LinkPtr smacc2::FlashLightSettingPrivate::link

Link which holds this flash light.

Definition at line 101 of file FlashLightPlugin.cc.

◆ msg

msgs::Light smacc2::FlashLightSettingPrivate::msg

A message holding a flashlight command.

Definition at line 119 of file FlashLightPlugin.cc.

◆ name

std::string smacc2::FlashLightSettingPrivate::name

The name of flash light.

Definition at line 98 of file FlashLightPlugin.cc.

◆ pubLight

gazebo::transport::PublisherPtr smacc2::FlashLightSettingPrivate::pubLight

The pointer to publisher to send a command to a light.

Definition at line 116 of file FlashLightPlugin.cc.

◆ range

double smacc2::FlashLightSettingPrivate::range

The length of the ray (in meters).

Definition at line 113 of file FlashLightPlugin.cc.

◆ startTime

gazebo::common::Time smacc2::FlashLightSettingPrivate::startTime

The time at which the current phase started.

Definition at line 104 of file FlashLightPlugin.cc.

◆ switchOn

bool smacc2::FlashLightSettingPrivate::switchOn

The current switch state (the light itself is active or not).

Definition at line 107 of file FlashLightPlugin.cc.

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

smacc2_sm_reference_library/sm_husky_barrel_search_1/src/sm_husky_barrel_search_1/gz_plugins/FlashLightPlugin.cc

Public Member Functions

Public Attributes