ContactSensor.hh

/*
 * Copyright 2011 Nate Koenig & Andrew Howard
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: Contact sensor
 * Author: Nate Koenig
 * Date: 09 Sept. 2008
*/

#ifndef CONTACTSENSOR_HH
#define CONTACTSENSOR_HH

#include <vector>

#include <stdint.h>

#include "math/Angle.hh"
#include "sensors/Sensor.hh"
#include "physics/Contact.hh"

namespace gazebo
{
  namespace sensors
  {
    class Contact;

   
    class ContactSensor: public Sensor
    {
      public: ContactSensor();
    
      public: virtual ~ContactSensor();
  
      public: virtual void Load( sdf::ElementPtr &_sdf );
      public: virtual void Load( );
    
      public: virtual void Init();
    
      protected: virtual void UpdateImpl(bool force);
  
      protected: virtual void Fini();
  
      public: unsigned int GetCollisionCount() const;
  
      public: std::string GetCollisionName(unsigned int _index) const;
  
      public: unsigned int GetCollisionContactCount(
                  const std::string &_collisionName) const;
  
      public: physics::Contact GetCollisionContact(
                  const std::string &_collisionName, unsigned int _index) const;

      public: gazebo::physics::ModelPtr GetParentModel() {return this->model;};

      public: std::map<std::string, physics::Contact> GetContacts(
                  const std::string &_collisionName);

      private: void OnContact(const std::string &_collisionName, 
                              const physics::Contact &_contact);

      private: std::vector<physics::CollisionPtr> collisions;

      private: gazebo::physics::ModelPtr model;
      private: typedef 
               std::map<std::string, std::map<std::string, physics::Contact> > Contact_M;
      private: Contact_M contacts;

      private: transport::NodePtr node;
      private: transport::PublisherPtr contactsPub;

      private: boost::mutex *mutex;
      public: boost::mutex* GetUpdateMutex() const {return this->mutex;}
    };
  }
}

#endif