/* * Copyright (C) 2019 AIRC 01 * * 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: Base class for distributed gazebo * Author: Zhang Shuai * Date: 28 March 2019 */ #ifdef _WIN32 // Ensure that Winsock2.h is included before Windows.h, which can get // pulled in by anybody (e.g., Boost). #include #endif // #include // #include // #include // #include // #include // #include // #include // #include "gazebo/util/OpenAL.hh" // #include "gazebo/common/KeyFrame.hh" // #include "gazebo/common/Animation.hh" // #include "gazebo/common/Plugin.hh" // #include "gazebo/common/Events.hh" // #include "gazebo/common/Exception.hh" // #include "gazebo/common/Console.hh" // #include "gazebo/common/CommonTypes.hh" // #include "gazebo/physics/Gripper.hh" // #include "gazebo/physics/Joint.hh" // #include "gazebo/physics/JointController.hh" // #include "gazebo/physics/Link.hh" // #include "gazebo/physics/World.hh" // #include "gazebo/physics/PhysicsEngine.hh" // #include "gazebo/physics/Model.hh" // #include "gazebo/physics/Contact.hh" // #include "gazebo/transport/Node.hh" #include "gazebo/physics/GazeboID.hh" using namespace gazebo; using namespace physics; ////////////////////////////////////////////////// GazeboID::GazeboID() { } ////////////////////////////////////////////////// GazeboID::~GazeboID() { this->Fini(); } ////////////////////////////////////////////////// void GazeboID::Load(sdf::ElementPtr _sdf) { if (_sdf) this->sdf = _sdf; if (this->sdf->HasAttribute("num")) this->gazeboID = this->sdf->Get("num"); if (this->sdf->HasAttribute("ip")) this->ip = this->sdf->Get("ip"); // if (this->sdf->HasElement("ip")) // { // sdf::ElementPtr gazeboIdElem = this->sdf->GetElement("ip"); // ip = gazeboIdElem->Get(); // } // if (this->sdf->HasElement("port")) // { // sdf::ElementPtr gazeboPortElem = this->sdf->GetElement("port"); // port = gazeboPortElem->Get(); // } if (this->sdf->HasElement("model_name")) { sdf::ElementPtr modelNameElem = this->sdf->GetElement("model_name"); while (modelNameElem) { modelNames.push_back(modelNameElem->Get()); modelNameElem = modelNameElem->GetNextElement("model_name"); } } } ////////////////////////////////////////////////// unsigned int GazeboID::GetGazeboID() { return gazeboID; } ////////////////////////////////////////////////// std::string GazeboID::GetGazeboIp() { return ip; } ////////////////////////////////////////////////// unsigned int GazeboID::GetModelCount() { return modelNames.size(); } ////////////////////////////////////////////////// std::string GazeboID::GetModelName(unsigned int _i) { return modelNames[_i]; } ////////////////////////////////////////////////// void GazeboID::Fini() { this->modelNames.clear(); this->sdf.reset(); }