WorldState.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17/* Desc: A world state
18 * Author: Nate Koenig
19 */
20
21#ifndef GAZEBO_PHYSICS_WORLDSTATE_HH_
22#define GAZEBO_PHYSICS_WORLDSTATE_HH_
23
24#include <string>
25#include <vector>
26
27#include <sdf/sdf.hh>
28
32#include "gazebo/util/system.hh"
33
34namespace gazebo
35{
36 namespace physics
37 {
40
47 class GZ_PHYSICS_VISIBLE WorldState : public State
48 {
50 public: WorldState();
51
56 public: explicit WorldState(const WorldPtr _world);
57
62 public: explicit WorldState(const sdf::ElementPtr _sdf);
63
65 public: virtual ~WorldState();
66
71 public: void Load(const WorldPtr _world);
72
78 public: void LoadWithFilter(const WorldPtr _world,
79 const std::string &_filter);
80
85 public: virtual void Load(const sdf::ElementPtr _elem);
86
89 public: void SetWorld(const WorldPtr _world);
90
95 public: ModelState_M GetModelStates(const boost::regex &_regex) const;
96
99 public: const ModelState_M &GetModelStates() const;
100
103 public: const LightState_M &LightStates() const;
104
109 public: unsigned int GetModelStateCount() const;
110
115 public: unsigned int LightStateCount() const;
116
121 public: ModelState GetModelState(const std::string &_modelName) const;
122
127 public: LightState GetLightState(const std::string &_lightName) const;
128
133 public: bool HasModelState(const std::string &_modelName) const;
134
139 public: bool HasLightState(const std::string &_lightName) const;
140
145 public: const std::vector<std::string> &Insertions() const;
146
152 public: void SetInsertions(const std::vector<std::string> &_insertions);
153
157 public: const std::vector<std::string> &Deletions() const;
158
162 public: void SetDeletions(const std::vector<std::string> &_deletions);
163
168 public: bool IsZero() const;
169
172 public: void FillSDF(sdf::ElementPtr _sdf);
173
177 public: virtual void SetWallTime(const common::Time &_time);
178
181 public: virtual void SetRealTime(const common::Time &_time);
182
185 public: virtual void SetSimTime(const common::Time &_time);
186
190 public: virtual void SetIterations(const uint64_t _iterations);
191
195 public: WorldState &operator=(const WorldState &_state);
196
200 public: WorldState operator-(const WorldState &_state) const;
201
205 public: WorldState operator+(const WorldState &_state) const;
206
211 public: inline friend std::ostream &operator<<(std::ostream &_out,
212 const gazebo::physics::WorldState &_state)
213 {
214 _out << "<state world_name='" << _state.name << "'>"
215 << "<sim_time>" << _state.simTime << "</sim_time>"
216 << "<wall_time>" << _state.wallTime << "</wall_time>"
217 << "<real_time>" << _state.realTime << "</real_time>"
218 << "<iterations>" << _state.iterations << "</iterations>";
219
220 // List all of the inserted models
221 if (_state.insertions.size() > 0)
222 {
223 _out << "<insertions>";
224 for (std::vector<std::string>::const_iterator iter =
225 _state.insertions.begin();
226 iter != _state.insertions.end(); ++iter)
227 {
228 _out << *iter;
229 }
230 _out << "</insertions>";
231 }
232
233 // List all of the deleted models
234 if (_state.deletions.size() > 0)
235 {
236 _out << "<deletions>";
237 for (std::vector<std::string>::const_iterator iter =
238 _state.deletions.begin();
239 iter != _state.deletions.end(); ++iter)
240 {
241 _out << "<name>" << (*iter) << "</name>";
242 }
243 _out << "</deletions>";
244 }
245
246 // List the model states
247 for (const auto &model : _state.modelStates)
248 {
249 _out << model.second;
250 }
251
252 // List the light states
253 for (const auto &light : _state.lightStates)
254 {
255 _out << light.second;
256 }
257
258 _out << "</state>";
259
260 return _out;
261 }
262
264 private: ModelState_M modelStates;
265
267 private: LightState_M lightStates;
268
271 private: std::vector<std::string> insertions;
272
275 private: std::vector<std::string> deletions;
276
278 private: WorldPtr world;
279 };
281 }
282}
283#endif
A Time class, can be used to hold wall- or sim-time.
Definition Time.hh:48
Store state information of a Light object.
Definition LightState.hh:39
Store state information of a physics::Model object.
Definition ModelState.hh:49
State of an entity.
Definition State.hh:44
uint64_t iterations
The number of simulation iterations when this state was generated.
Definition State.hh:131
common::Time wallTime
Times for the state data.
Definition State.hh:127
std::string name
Name associated with this State.
Definition State.hh:124
common::Time simTime
Definition State.hh:127
common::Time realTime
Definition State.hh:127
Store state information of a physics::World object.
Definition WorldState.hh:48
void LoadWithFilter(const WorldPtr _world, const std::string &_filter)
Load from a World pointer.
void SetInsertions(const std::vector< std::string > &_insertions)
Set a new vector of SDF insertions.
virtual void SetRealTime(const common::Time &_time)
Set the real time when this state was generated.
virtual void SetSimTime(const common::Time &_time)
Set the sim time when this state was generated.
void SetWorld(const WorldPtr _world)
Set the world.
void Load(const WorldPtr _world)
Load from a World pointer.
const std::vector< std::string > & Deletions() const
Get the vector of SDF deletions.
const LightState_M & LightStates() const
Get the light states.
virtual void SetWallTime(const common::Time &_time)
Set the wall time when this state was generated.
friend std::ostream & operator<<(std::ostream &_out, const gazebo::physics::WorldState &_state)
Stream insertion operator.
Definition WorldState.hh:211
WorldState operator+(const WorldState &_state) const
Addition operator.
bool HasLightState(const std::string &_lightName) const
Return true if WorldState has a LightState with the given name.
WorldState(const WorldPtr _world)
Constructor.
WorldState operator-(const WorldState &_state) const
Subtraction operator.
LightState GetLightState(const std::string &_lightName) const
Get a light state by light name.
ModelState_M GetModelStates(const boost::regex &_regex) const
Get model states based on a regular expression.
virtual ~WorldState()
Destructor.
unsigned int GetModelStateCount() const
Get the number of model states.
WorldState & operator=(const WorldState &_state)
Assignment operator.
bool IsZero() const
Return true if the values in the state are zero.
unsigned int LightStateCount() const
Get the number of light states.
void SetDeletions(const std::vector< std::string > &_deletions)
Set a new vector of SDF deletions.
WorldState()
Default constructor.
WorldState(const sdf::ElementPtr _sdf)
Constructor.
ModelState GetModelState(const std::string &_modelName) const
Get a model state by model name.
const std::vector< std::string > & Insertions() const
Get the vector of SDF insertions.
bool HasModelState(const std::string &_modelName) const
Return true if WorldState has a ModelState with the given name.
void FillSDF(sdf::ElementPtr _sdf)
Populate a state SDF element with data from the object.
virtual void Load(const sdf::ElementPtr _elem)
Load state from SDF element.
const ModelState_M & GetModelStates() const
Get the model states.
virtual void SetIterations(const uint64_t _iterations)
Set the simulation interations when this state was generated.
std::map< std::string, ModelState > ModelState_M
Definition PhysicsTypes.hh:233
std::map< std::string, LightState > LightState_M
Definition PhysicsTypes.hh:237
boost::shared_ptr< World > WorldPtr
Definition PhysicsTypes.hh:89
Forward declarations for the common classes.
Definition Animation.hh:27