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ea8bcd9cef
* gz: use server config file for loading world plugins * submodule * use server.config in tree * newlines * format * gzbridge: rename function * format * gzbridge: add magnetometer callback * change gz_find_package to find_package * fix up directory structure and cmake to allow multiple plugins * newlines * add comment block explaining gz_env.sh * remove dupe readme * remove SENS_EN_MAGSIM from all gz airframe files except spacecraft * update gz submodule
60 lines
2.3 KiB
C++
60 lines
2.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2025 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <gz/sim/System.hh>
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#include <gz/sensors/Sensor.hh>
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#include <gz/transport/Node.hh>
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namespace custom
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{
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class OpticalFlowSystem:
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public gz::sim::System,
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public gz::sim::ISystemPreUpdate,
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public gz::sim::ISystemPostUpdate
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{
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public:
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void PreUpdate(const gz::sim::UpdateInfo &_info,
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gz::sim::EntityComponentManager &_ecm) final;
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void PostUpdate(const gz::sim::UpdateInfo &_info,
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const gz::sim::EntityComponentManager &_ecm) final;
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private:
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void RemoveSensorEntities(const gz::sim::EntityComponentManager &_ecm);
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std::unordered_map<gz::sim::Entity, std::shared_ptr<OpticalFlowSensor>> entitySensorMap;
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};
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} // end namespace custom
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