110 lines
2.7 KiB
C++
110 lines
2.7 KiB
C++
/*
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* Copyright (C) 2019 AIRC 01
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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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/* Desc: Base class for distributed gazebo
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* Author: Zhang Shuai
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* Date: 28 March 2019
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*/
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#ifndef _GAZEBOID_HH_
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#define _GAZEBOID_HH_
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#include <string>
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// #include <map>
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#include <vector>
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#include <boost/function.hpp>
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// #include <boost/thread/recursive_mutex.hpp>
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#include <sdf/sdf.hh>
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// #include "gazebo/common/CommonTypes.hh"
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#include "gazebo/physics/PhysicsTypes.hh"
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// #include "gazebo/physics/ModelState.hh"
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// #include "gazebo/physics/Entity.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace physics
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{
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/// \class Distribution Distribution.hh physics/physics.hh
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/// \brief Distribution is used to store information about the distributed simulation.
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class GZ_PHYSICS_VISIBLE GazeboID
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{
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/// \brief Constructor.
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/// \param[in] _parent Parent object.
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public:
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explicit GazeboID();
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/// \brief Destructor.
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public:
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virtual ~GazeboID();
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/// \brief Load the Distribution.
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/// \param[in] _sdf SDF parameters to load from.
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public:
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void Load(sdf::ElementPtr _sdf);
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/// \brief Get the gazebo ID of this Distribution.
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/// \return the gazebo ID of this Distribution.
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public:
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unsigned int GetGazeboID();
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/// \brief Get the gazebo ip of this Distribution.
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/// \return the gazebo ip of this Distribution.
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public:
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std::string GetGazeboIp();
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/// \brief Get the number of models this Distribution has.
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/// \return Number of models associated with this Distribution.
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public:
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unsigned int GetModelCount();
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/// \brief Get the name of the specified model.
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/// \param[in] _i Number of the model name to get.
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/// \return the name of the specified model.
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public:
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std::string GetModelName(unsigned int _i);
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/// \brief Finialize the gazeboID
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public:
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void Fini();
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/// \brief The Distribution's current SDF description.
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private:
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sdf::ElementPtr sdf;
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/// \brief idex of distributed gazebo.
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private:
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unsigned int gazeboID;
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/// \brief ip of distributed gazebo.
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private:
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std::string ip;
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/// \brief port of distributed gazebo.
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private:
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int port;
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/// \brief Models name in this gazebo
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private:
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std::vector<std::string> modelNames;
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};
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} // namespace physics
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} // namespace gazebo
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#endif
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