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PhysicsIface.hh
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/*
* 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 _PHYSICSIFACE_HH_
#define _PHYSICSIFACE_HH_
#include <string>
#include <sdf/sdf.hh>
#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace physics
{
GZ_PHYSICS_VISIBLE
bool load();
GZ_PHYSICS_VISIBLE
bool fini();
GZ_PHYSICS_VISIBLE
WorldPtr create_world(const std::string &_name ="");
GZ_PHYSICS_VISIBLE
WorldPtr get_world(const std::string &_name = "");
GZ_PHYSICS_VISIBLE
bool has_world(const std::string &_name = "");
GZ_PHYSICS_VISIBLE
void load_world(WorldPtr _world, sdf::ElementPtr _sdf);
GZ_PHYSICS_VISIBLE
void init_world(WorldPtr _world);
GZ_PHYSICS_VISIBLE
void run_world(WorldPtr _world, unsigned int _iterations = 0);
GZ_PHYSICS_VISIBLE
void stop_world(WorldPtr _world);
GZ_PHYSICS_VISIBLE
void pause_world(WorldPtr _world, bool _pause);
GZ_PHYSICS_VISIBLE
void load_worlds(sdf::ElementPtr _sdf);
GZ_PHYSICS_VISIBLE
void init_worlds();
GZ_PHYSICS_VISIBLE
void run_worlds(unsigned int _iterations = 0);
GZ_PHYSICS_VISIBLE
void stop_worlds();
GZ_PHYSICS_VISIBLE
void pause_worlds(bool pause);
GZ_PHYSICS_VISIBLE
void remove_worlds();
GZ_PHYSICS_VISIBLE
bool worlds_running();
GZ_PHYSICS_VISIBLE
uint32_t getUniqueId();
}
}
#endif
gazebo::physics::remove_worlds
void remove_worlds()
remove multiple worlds stored in static variable gazebo::g_worlds
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::load_world
void load_world(WorldPtr _world, sdf::ElementPtr _sdf)
Load world from sdf::Element pointer.
gazebo::physics::pause_world
void pause_world(WorldPtr _world, bool _pause)
Pause world by calling World::SetPaused.
gazebo::physics::load
bool load()
Setup gazebo::SystemPlugin's and call gazebo::transport::init.
gazebo::physics::pause_worlds
void pause_worlds(bool pause)
pause multiple worlds stored in static variable gazebo::g_worlds
system.hh
gazebo::physics::run_worlds
void run_worlds(unsigned int _iterations=0)
Run multiple worlds stored in static variable gazebo::g_worlds.
PhysicsTypes.hh
default namespace for gazebo
gazebo::physics::stop_world
void stop_world(WorldPtr _world)
Stop world by calling World::Stop() given a pointer to it.
gazebo::physics::worlds_running
bool worlds_running()
Return true if any world is running.
gazebo::physics::has_world
bool has_world(const std::string &_name="")
checks if the world with this name exists.
gazebo::physics::stop_worlds
void stop_worlds()
stop multiple worlds stored in static variable gazebo::g_worlds
gazebo::physics::init_world
void init_world(WorldPtr _world)
Init world given a pointer to it.
gazebo::physics::init_worlds
void init_worlds()
initialize multiple worlds stored in static variable gazebo::g_worlds
gazebo::physics::get_world
WorldPtr get_world(const std::string &_name="")
Returns a pointer to a world by name.
gazebo::physics::load_worlds
void load_worlds(sdf::ElementPtr _sdf)
load multiple worlds from single sdf::Element pointer
gazebo::physics::getUniqueId
uint32_t getUniqueId()
Get a unique ID.
gazebo::physics::run_world
void run_world(WorldPtr _world, unsigned int _iterations=0)
Run world by calling World::Run() given a pointer to it.
gazebo::physics::WorldPtr
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
gazebo::physics::fini
bool fini()
Finalize transport by calling gazebo::transport::fini.
gazebo::physics::create_world
WorldPtr create_world(const std::string &_name="")
Create a world given a name.