ConfigEditor.hh

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Author: Edward Yunkai Cui
// Description:
// This is the world plugin that used by configuration
// generator. It basically inherit all the functions from
// world plugin template. However there are several main
// differences, 1. This world plugin will not load 
// initial configuration, but will have a subscriber that
// subscribe configuration information; 2. This world plugin
// will publish configuration information to gui plugin that 
// will force graphic updates happening
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#ifndef _GAZEBO_CONFIG_EDITOR_HH_
#define _GAZEBO_CONFIG_EDITOR_HH_

#include "WorldServer.hh"
#include "config_message.pb.h"

typedef const boost::shared_ptr
    <const config_message::msgs::ConfigMessage> ConfigMessagePtr;
namespace gazebo{
class ConfigEditor : public WorldServer
{
 public:
  ConfigEditor();
  ~ConfigEditor();

  virtual void InsertModel(string name, math::Pose position, string joint_angles);

  virtual void InsertModel(string name, math::Pose position, string joint_angles, 
      string model_path);

  virtual void ExtraInitializationInLoad(physics::WorldPtr _parent, 
      sdf::ElementPtr _sdf);

  void ExtraWorkWhenModelInserted(CommandMessagePtr &msg);
 private:

  void ConfigMessageDecoding(ConfigMessagePtr &msg);
 private:
  transport::SubscriberPtr configSub;
  transport::PublisherPtr configPub;
  vector<string> ModuleWaitForDelete;
};
} // namespace gazebo
#endif