##

PresetManager Class Reference

Class to manage preset physics profiles. More...

`#include <gazebo/physics/PresetManager.hh>`

## Public Member Functions

| PresetManager (PhysicsEnginePtr _physicsEngine, const sdf::ElementPtr _sdf)
| Constructor. More...
| ~PresetManager ()
| Destructor. More...
std::vector< std::string > | AllProfiles () const
| Get the name of all profiles. More...
std::string | CreateProfile (const sdf::ElementPtr _sdf)
| Create a new profile from SDF. More...
bool | CreateProfile (const std::string &_name)
| Create a new profile. More...
std::string | CurrentProfile () const
| Get the name of the current profile. More...
bool | CurrentProfile (const std::string &_name)
| Set the current profile. More...
void | GenerateSDFFromPreset (const std::string &_name, sdf::ElementPtr &_elem) const
| Generate an SDF element from an Preset object. More...
bool | GetCurrentProfileParam (const std::string &_key, boost::any &_value)
| Get a parameter for the current profile. More...
bool | GetProfileParam (const std::string &_name, const std::string &_key, boost::any &_value) const
| Get a parameter for a certain profile. More...
bool | HasProfile (const std::string &_name) const
| Determine if we have a profile. More...
sdf::ElementPtr | ProfileSDF (const std::string &_name) const
| Get the SDF for a profile. More...
bool | ProfileSDF (const std::string &_name, const sdf::ElementPtr _sdf)
| Set the SDF for a profile. More...
void | RemoveProfile (const std::string &_name)
| Remove a profile. More...
bool | SetCurrentProfileParam (const std::string &_key, const boost::any &_value)
| Set a parameter for the current profile. More...
bool | SetProfileParam (const std::string &_profileName, const std::string &_key, const boost::any &_value)
| Set a parameter for a certain profile. More...

## Detailed Description

Class to manage preset physics profiles.

## Constructor & Destructor Documentation

## PresetManager()

PresetManager | ( | PhysicsEnginePtr | _physicsEngine,
|  | const sdf::ElementPtr | _sdf
| ) |  |

Constructor.

Parameters

  [in] | _physicsEngine | Pointer to the world physics engine.
  [in] | _sdf | Pointer to the world SDF element.

## ~PresetManager()

~PresetManager | ( |  | ) |

Destructor.

## Member Function Documentation

## AllProfiles()

std::vector<std::string> AllProfiles | ( |  | ) | const

Get the name of all profiles.

Returns
  A vector containing all profile names.

## CreateProfile() [1/2]

std::string CreateProfile | ( | const sdf::ElementPtr | _sdf | ) |

Create a new profile from SDF.

SDF determines the profile name

Parameters

  [in] | _sdf | Pointer to a physics SDF element.

Returns
  The name of the new profile, read from SDF. If the profile was not successfully created, return the empty string, which is an invalid profile name.

## CreateProfile() [2/2]

bool CreateProfile | ( | const std::string & | _name | ) |

Create a new profile.

A profile created in this way will store all of the current parameter values of the physics engine.

Parameters

  [in] | _name | The name of the new profile.

Returns
  True if the profile was successfully created.

## CurrentProfile() [1/2]

std::string CurrentProfile | ( |  | ) | const

Get the name of the current profile.

Returns
  The name of the current profile.

## CurrentProfile() [2/2]

bool CurrentProfile | ( | const std::string & | _name | ) |

Set the current profile.

Parameters

  [in] | _name | The name of the new current profile.

Returns
  True if the profile switch was successful.

## GenerateSDFFromPreset()

void GenerateSDFFromPreset | ( | const std::string & | _name,
|  | sdf::ElementPtr & | _elem
| ) |  | const

Generate an SDF element from an Preset object.

Parameters

  [in] | _name | The name of the profile to copy.
  [out] | _elem | The SDF physics element for the profile.

## GetCurrentProfileParam()

bool GetCurrentProfileParam | ( | const std::string & | _key,
|  | boost::any & | _value
| ) |  |

Get a parameter for the current profile.

Parameters

  [in] | _key | The key of the accessed parameter.
  [out] | _value | The value of the accessed parameter.

Returns
  True if the parameter existed in profile "_name".

## GetProfileParam()

bool GetProfileParam | ( | const std::string & | _name,
|  | const std::string & | _key,
|  | boost::any & | _value
| ) |  | const

Get a parameter for a certain profile.

Parameters

  [in] | _name | The name of the accessed profile.
  [in] | _key | The key of the accessed parameter.
  [out] | _value | The value of the accessed parameter.

Returns
  True if the parameter existed in profile "_name".

## HasProfile()

bool HasProfile | ( | const std::string & | _name | ) | const

Determine if we have a profile.

Parameters

  [in] | _name | The name of the profile to find.

Returns
  True if we have the profile, false otherwise

## ProfileSDF() [1/2]

sdf::ElementPtr ProfileSDF | ( | const std::string & | _name | ) | const

Get the SDF for a profile.

Parameters

  [in] | _name | The name of the profile to be accessed.

Returns
  Pointer to the SDF physics element representing the profile. Can be NULL if no profile was found.

## ProfileSDF() [2/2]

bool ProfileSDF | ( | const std::string & | _name,
|  | const sdf::ElementPtr | _sdf
| ) |  |

Set the SDF for a profile.

Parameters

  [in] | _name | The name of the profile to set.
  [in] | _sdf | The new SDF physics element for the profile.

Returns
  True if setting the new SDF element was successful.

## RemoveProfile()

void RemoveProfile | ( | const std::string & | _name | ) |

Remove a profile.

Parameters

  [in] | _name | The name of the profile to remove.

## SetCurrentProfileParam()

bool SetCurrentProfileParam | ( | const std::string & | _key,
|  | const boost::any & | _value
| ) |  |

Set a parameter for the current profile.

Parameters

  [in] | _key | The key of the parameter to be set.
  [in] | _value | The value of the parameter to be set.

Returns
  True if setting the parameter was successful.

## SetProfileParam()

bool SetProfileParam | ( | const std::string & | _profileName,
|  | const std::string & | _key,
|  | const boost::any & | _value
| ) |  |

Set a parameter for a certain profile.

Parameters

  [in] | _profileName | The name of the profile to change.
  [in] | _key | The key of the parameter to change.
  [in] | _value | The value of the parameter to change.

Returns
  True if setting the parameter was successful.

The documentation for this class was generated from the following file:

- PresetManager.hh