143 lines
4.9 KiB
C++
143 lines
4.9 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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/* Desc: A generic physics state
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* Author: Nate Koenig
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*/
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#ifndef _STATE_HH_
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#define _STATE_HH_
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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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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/common/Time.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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/// \addtogroup gazebo_physics
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/// \{
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/// \class State State.hh physics/physics.hh
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/// \brief State of an entity.
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///
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/// This is the base class for all State information.
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class GZ_PHYSICS_VISIBLE State
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{
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/// \brief Default constructor
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public: State();
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/// \brief Constructor
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///
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/// Construct a State object using some basic information.
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/// \param _name Name associated with the State information. This is
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/// typically the name of an Entity.
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/// \param _realTime Clock time since simulation started.
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/// \param _simTime Simulation time associated with this State info.
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/// \param _iterations Simulation iterations since simulation started.
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public: State(const std::string &_name,
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const common::Time &_realTime,
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const common::Time &_simTime,
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const uint64_t _iterations);
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/// \brief Destructor
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public: virtual ~State();
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/// \brief Load state from SDF element
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///
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/// Populates the State information from data stored in an SDF::Element
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/// \param _elem Pointer to the SDF::Element
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public: virtual void Load(const sdf::ElementPtr _elem);
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/// \brief Assignment operator
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/// \param[in] _state State value
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/// \return this
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public: State &operator=(const State &_state);
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/// \brief Subtraction operator.
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/// \param[in] _pt A state to substract.
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/// \return The resulting state.
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public: State operator-(const State &_state) const;
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/// \brief Get the name associated with this State
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/// \return Name associated with this state information. Typically
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/// a name of an Entity.
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public: std::string GetName() const;
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/// \brief Set the name associated with this State.
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/// \param[in] _name Name associated with this state information.
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/// Typically the name of an Entity.
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public: void SetName(const std::string &_name);
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/// \brief Get the wall time when this state was generated
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/// \return The absolute clock time when the State data was recorded.
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public: common::Time GetWallTime() const;
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/// \brief Get the real time when this state was generated
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/// \return Clock time since simulation was stated.
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public: common::Time GetRealTime() const;
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/// \brief Get the sim time when this state was generated
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/// \return Simulation time when the data was recorded.
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public: common::Time GetSimTime() const;
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/// \brief Get the iterations when this state was generated
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/// \return Iterations when the data was recorded
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public: uint64_t GetIterations() const;
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/// \brief Set the wall time when this state was generated
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/// \param[in] _time The absolute clock time when the State
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/// data was recorded.
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public: virtual void SetWallTime(const common::Time &_time);
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/// \brief Set the real time when this state was generated
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/// \param[in] _time Clock time since simulation was stated.
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public: virtual void SetRealTime(const common::Time &_time);
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/// \brief Set the sim time when this state was generated
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/// \param[in] _time Simulation time when the data was recorded.
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public: virtual void SetSimTime(const common::Time &_time);
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/// \brief Set the iterations when this state was generated
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/// \param[in] _iterations Iterations when the data was recorded.
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public: virtual void SetIterations(const uint64_t _iterations);
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/// \brief Name associated with this State
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protected: std::string name;
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/// \brief Times for the state data
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protected: common::Time wallTime, realTime, simTime;
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/// \brief The number of simulation iterations when this state was
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/// generated.
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protected: uint64_t iterations;
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};
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/// \}
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}
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}
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#endif
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