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"using" directives are no longer used in global namespaces (#219)

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This commit is contained in:
Tyler Veness
2016-11-01 23:09:51 -07:00
committed by Peter Johnson
parent 78f0b1562c
commit ba8761e39e
39 changed files with 292 additions and 256 deletions
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16
simulation/frc_gazebo_plugins/rangefinder/src/rangefinder.cpp
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@@ -20,12 +20,12 @@
GZ_REGISTER_MODEL_PLUGIN(Rangefinder)
void Rangefinder::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
void Rangefinder::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
this->model = model;
// Parse SDF properties
sensor = std::dynamic_pointer_cast<sensors::SonarSensor>(
sensors::get_sensor(sdf->Get<std::string>("sensor")));
sensor = std::dynamic_pointer_cast<gazebo::sensors::SonarSensor>(
gazebo::sensors::get_sensor(sdf->Get<std::string>("sensor")));
if (sdf->HasElement("topic")) {
topic = sdf->Get<std::string>("topic");
} else {
@@ -39,18 +39,18 @@ void Rangefinder::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
std::string scoped_name =
model->GetWorld()->GetName() + "::" + model->GetScopedName();
boost::replace_all(scoped_name, "::", "/");
node = transport::NodePtr(new transport::Node());
node = gazebo::transport::NodePtr(new gazebo::transport::Node());
node->Init(scoped_name);
pub = node->Advertise<msgs::Float64>(topic);
pub = node->Advertise<gazebo::msgs::Float64>(topic);
// Connect to the world update event.
// This will trigger the Update function every Gazebo iteration
updateConn = event::Events::ConnectWorldUpdateBegin(
updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
boost::bind(&Rangefinder::Update, this, _1));
}
void Rangefinder::Update(const common::UpdateInfo& info) {
msgs::Float64 msg;
void Rangefinder::Update(const gazebo::common::UpdateInfo& info) {
gazebo::msgs::Float64 msg;
msg.set_data(sensor->Range());
pub->Publish(msg);
}

26
simulation/frc_gazebo_plugins/rangefinder/src/rangefinder.h
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@@ -13,8 +13,6 @@
#include "simulation/gz_msgs/msgs.h"
using namespace gazebo;
/**
* \brief Plugin for reading the range of obstacles.
*
@@ -32,24 +30,30 @@ using namespace gazebo;
* - `sensor`: Name of the sonar sensor that this rangefinder uses.
* - `topic`: Optional. Message will be published as a gazebo.msgs.Float64.
*/
class Rangefinder : public ModelPlugin {
class Rangefinder : public gazebo::ModelPlugin {
public:
/// \brief Load the rangefinder and configures it according to the sdf.
void Load(physics::ModelPtr model, sdf::ElementPtr sdf);
void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
/// \brief Sends out the rangefinder reading each timestep.
void Update(const common::UpdateInfo& info);
void Update(const gazebo::common::UpdateInfo& info);
private:
/// \brief Publish the range on this topic.
std::string topic;
/// \brief The sonar sensor that this rangefinder uses
sensors::SonarSensorPtr sensor;
gazebo::sensors::SonarSensorPtr sensor;
physics::ModelPtr model; ///< \brief The model that this is attached to.
event::ConnectionPtr
updateConn; ///< \brief Pointer to the world update function.
transport::NodePtr node; ///< \brief The node we're advertising on.
transport::PublisherPtr pub; ///< \brief Publisher handle.
/// \brief The model to which this is attached.
gazebo::physics::ModelPtr model;
/// \brief Pointer to the world update function.
gazebo::event::ConnectionPtr updateConn;
/// \brief The node on which we're advertising.
gazebo::transport::NodePtr node;
/// \brief Publisher handle.
gazebo::transport::PublisherPtr pub;
};