130 lines
4.1 KiB
C++
130 lines
4.1 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _PHYSICSIFACE_HH_
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#define _PHYSICSIFACE_HH_
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#include <string>
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#include <sdf/sdf.hh>
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#include "gazebo/physics/PhysicsTypes.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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/// \ingroup gazebo_physics
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/// \brief physics namespace
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namespace physics
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{
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/// \addtogroup gazebo_physics
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/// \{
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/// \brief Setup gazebo::SystemPlugin's and call gazebo::transport::init.
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GZ_PHYSICS_VISIBLE
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bool load();
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/// \brief Finalize transport by calling gazebo::transport::fini.
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GZ_PHYSICS_VISIBLE
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bool fini();
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/// \brief Create a world given a name.
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/// \param[in] _name Name of the world to create.
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/// \return Pointer to the new world.
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GZ_PHYSICS_VISIBLE
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WorldPtr create_world(const std::string &_name ="");
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/// \brief Returns a pointer to a world by name.
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/// \param[in] _name Name of the world to get.
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/// \return Pointer to the world.
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GZ_PHYSICS_VISIBLE
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WorldPtr get_world(const std::string &_name = "");
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/// \brief Load world from sdf::Element pointer.
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/// \param[in] _world Pointer to a world.
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/// \param[in] _sdf SDF values to load from.
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GZ_PHYSICS_VISIBLE
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void load_world(WorldPtr _world, sdf::ElementPtr _sdf);
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/// \brief Init world given a pointer to it.
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/// \param[in] _world World to initialize.
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GZ_PHYSICS_VISIBLE
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void init_world(WorldPtr _world);
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/// \brief Run world by calling World::Run() given a pointer to it.
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/// \param[in] _world World to run.
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/// \param[in] _iterations Number of iterations for each world to take.
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/// Zero indicates that each world should continue forever.
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GZ_PHYSICS_VISIBLE
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void run_world(WorldPtr _world, unsigned int _iterations = 0);
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/// \brief Stop world by calling World::Stop() given a pointer to it.
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/// \param[in] _world World to stop.
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GZ_PHYSICS_VISIBLE
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void stop_world(WorldPtr _world);
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/// \brief Pause world by calling World::SetPaused.
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/// \param[in] _world World to pause or unpause.
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/// \param[in] _pause True to pause, False to unpause.
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GZ_PHYSICS_VISIBLE
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void pause_world(WorldPtr _world, bool _pause);
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/// \brief load multiple worlds from single sdf::Element pointer
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/// \param[in] _sdf SDF values used to create worlds.
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GZ_PHYSICS_VISIBLE
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void load_worlds(sdf::ElementPtr _sdf);
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/// \brief initialize multiple worlds stored in static variable
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/// gazebo::g_worlds
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GZ_PHYSICS_VISIBLE
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void init_worlds();
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/// \brief Run multiple worlds stored in static variable
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/// gazebo::g_worlds
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/// \param[in] _iterations Number of iterations for each world to take.
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/// Zero indicates that each world should continue forever.
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GZ_PHYSICS_VISIBLE
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void run_worlds(unsigned int _iterations = 0);
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/// \brief stop multiple worlds stored in static variable
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/// gazebo::g_worlds
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GZ_PHYSICS_VISIBLE
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void stop_worlds();
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/// \brief pause multiple worlds stored in static variable
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/// gazebo::g_worlds
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/// \param[in] _pause True to pause, False to unpause.
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GZ_PHYSICS_VISIBLE
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void pause_worlds(bool pause);
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/// \brief remove multiple worlds stored in static variable
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/// gazebo::g_worlds
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GZ_PHYSICS_VISIBLE
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void remove_worlds();
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/// \brief Return true if any world is running.
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/// \return True if any world is running.
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GZ_PHYSICS_VISIBLE
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bool worlds_running();
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/// \brief Get a unique ID
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/// \return A unique integer
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GZ_PHYSICS_VISIBLE
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uint32_t getUniqueId();
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/// \}
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}
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}
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#endif
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