74 lines
2.5 KiB
C++
74 lines
2.5 KiB
C++
/*
|
|
* Copyright (C) 2012 Open Source Robotics Foundation
|
|
*
|
|
* 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.
|
|
*
|
|
*/
|
|
#ifndef _GAZEBO_HH_
|
|
#define _GAZEBO_HH_
|
|
|
|
#include <gazebo/gazebo_core.hh>
|
|
#include <string>
|
|
#include <vector>
|
|
#include "gazebo/util/system.hh"
|
|
|
|
namespace gazebo
|
|
{
|
|
/// \brief Output version information to the terminal.
|
|
GAZEBO_VISIBLE
|
|
void printVersion();
|
|
|
|
/// \brief Add a system plugin.
|
|
/// \param[in] _filename Path to the plugin.
|
|
GAZEBO_VISIBLE
|
|
void addPlugin(const std::string &_filename);
|
|
|
|
/// \brief Start a gazebo server. This starts transportation, and makes it
|
|
/// possible to create worlds.
|
|
/// \param[in] _argc Number of commandline arguments.
|
|
/// \param[in] _argv The commandline arguments.
|
|
/// \return True on success.
|
|
GAZEBO_VISIBLE
|
|
bool setupServer(int _argc = 0, char **_argv = 0);
|
|
|
|
/// \brief Start a gazebo server. This starts transportation, and makes it
|
|
/// possible to create worlds.
|
|
/// \param[in] _args Vector of arguments only parsed by the system plugins.
|
|
/// Note that when you run gazebo/gzserver, all the options (--version,
|
|
/// --server-plugin, etc.) are parsed but when using Gazebo as a library, the
|
|
/// arguments are only parsed by the system plugins.
|
|
/// \sa gazebo::SystemPlugin::Load()
|
|
/// \return True on success.
|
|
GAZEBO_VISIBLE
|
|
bool setupServer(const std::vector<std::string> &_args);
|
|
|
|
/// \brief Create and load a new world from an SDF world file.
|
|
/// \param[in] _worldFile The world file to load from.
|
|
/// \return Pointer to the created world. NULL on error.
|
|
GAZEBO_VISIBLE
|
|
gazebo::physics::WorldPtr loadWorld(const std::string &_worldFile);
|
|
|
|
/// \brief Run a world for a specific number of iterations.
|
|
/// \param[in] _world Pointer to a world.
|
|
/// \param[in] _iterations Number of iterations to execute.
|
|
GAZEBO_VISIBLE
|
|
void runWorld(gazebo::physics::WorldPtr _world, unsigned int _iterations);
|
|
|
|
/// \brief Stop and cleanup simulation.
|
|
/// \return True if the simulation is shutdown; false otherwise.
|
|
GAZEBO_VISIBLE
|
|
bool shutdown();
|
|
}
|
|
|
|
#endif
|