PresetManager.hh
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2 * Copyright (C) 2015 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
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11 * distributed under the License is distributed on an "AS IS" BASIS,
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13 * See the License for the specific language governing permissions and
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16*/
17
18#ifndef _GAZEBO_PHYSICS_PRESETMANAGER_HH_
19#define _GAZEBO_PHYSICS_PRESETMANAGER_HH_
20
21#include <boost/any.hpp>
22#include <string>
23#include <vector>
24#include <sdf/sdf.hh>
25
27
28namespace gazebo
29{
30 namespace physics
31 {
32 class PresetPrivate;
33
36 class GZ_PHYSICS_VISIBLE Preset
37 {
39 public: Preset();
40
43 // cppcheck-suppress noExplicitConstructor
44 public: Preset(const std::string & _name);
45
47 public: ~Preset();
48
51 public: std::string Name() const;
52
57 public: bool GetParam(const std::string &_key, boost::any &_value) const;
58
62 public: bool SetParam(const std::string &_key, const boost::any &_value);
63
67 public: bool HasParam(const std::string &_key) const;
68
73 public: bool SetAllPhysicsParameters(PhysicsEnginePtr _physicsEngine)
74 const;
75
80 public: bool SetAllParamsFromSDF(const sdf::ElementPtr _elem);
81
86 private: bool SetAllParamsHelper(const sdf::ElementPtr _elem);
87
90 public: sdf::ElementPtr SDF() const;
91
95 public: bool SDF(const sdf::ElementPtr _sdfElement);
96
98 private: PresetPrivate *dataPtr;
99 };
100
101 class PresetManagerPrivate;
102
105 class GZ_PHYSICS_VISIBLE PresetManager
106 {
110 public: PresetManager(PhysicsEnginePtr _physicsEngine,
111 const sdf::ElementPtr _sdf);
112
114 public: ~PresetManager();
115
119 public: bool CurrentProfile(const std::string &_name);
120
123 public: std::string CurrentProfile() const;
124
127 public: std::vector<std::string> AllProfiles() const;
128
134 public: bool SetProfileParam(const std::string &_profileName,
135 const std::string &_key, const boost::any &_value);
136
142 public: bool GetProfileParam(const std::string &_name,
143 const std::string &_key, boost::any &_value) const;
144
149 public: bool SetCurrentProfileParam(const std::string &_key,
150 const boost::any &_value);
151
156 public: bool GetCurrentProfileParam(const std::string &_key,
157 boost::any &_value);
158
163 public: bool CreateProfile(const std::string &_name);
164
170 public: std::string CreateProfile(const sdf::ElementPtr _sdf);
171
174 public: void RemoveProfile(const std::string &_name);
175
179 public: bool HasProfile(const std::string &_name) const;
180
185 public: sdf::ElementPtr ProfileSDF(const std::string &_name) const;
186
191 public: bool ProfileSDF(const std::string &_name,
192 const sdf::ElementPtr _sdf);
193
197 public: void GenerateSDFFromPreset(const std::string &_name,
198 sdf::ElementPtr &_elem) const;
199
203 private: void GenerateSDFHelper(const Preset &_preset,
204 sdf::ElementPtr &_elem) const;
205
209 private: void GeneratePresetFromSDF(const sdf::ElementPtr _elem,
210 Preset &_preset) const;
211
214 private: Preset *CurrentPreset() const;
215
217 private: PresetManagerPrivate *dataPtr;
218 };
219 }
220}
221
222#endif
default namespace for gazebo
Class to manage preset physics profiles.
Definition PresetManager.hh:106
bool CurrentProfile(const std::string &_name)
Set the current profile.
bool ProfileSDF(const std::string &_name, const sdf::ElementPtr _sdf)
Set the SDF for a profile.
sdf::ElementPtr ProfileSDF(const std::string &_name) const
Get the SDF for a profile.
bool CreateProfile(const std::string &_name)
Create a new profile.
std::string CurrentProfile() const
Get the name of the current profile.
bool SetProfileParam(const std::string &_profileName, const std::string &_key, const boost::any &_value)
Set a parameter for a certain profile.
void RemoveProfile(const std::string &_name)
Remove a profile.
std::string CreateProfile(const sdf::ElementPtr _sdf)
Create a new profile from SDF.
PresetManager(PhysicsEnginePtr _physicsEngine, const sdf::ElementPtr _sdf)
Constructor.
bool SetCurrentProfileParam(const std::string &_key, const boost::any &_value)
Set a parameter for the current profile.
bool GetCurrentProfileParam(const std::string &_key, boost::any &_value)
Get a parameter for the current profile.
bool HasProfile(const std::string &_name) const
Determine if we have a profile.
bool GetProfileParam(const std::string &_name, const std::string &_key, boost::any &_value) const
Get a parameter for a certain profile.
void GenerateSDFFromPreset(const std::string &_name, sdf::ElementPtr &_elem) const
Generate an SDF element from an Preset object.
std::vector< std::string > AllProfiles() const
Get the name of all profiles.
Representation of a preset physics profile.
Definition PresetManager.hh:37
std::string Name() const
Get the profile name.
bool SetAllParamsFromSDF(const sdf::ElementPtr _elem)
Set all parameters of this preset based on the key/value pairs in the given SDF element.
bool GetParam(const std::string &_key, boost::any &_value) const
Get a profile parameter.
bool SetParam(const std::string &_key, const boost::any &_value)
Set a profile parameter.
sdf::ElementPtr SDF() const
Get this preset profile's SDF.
Preset(const std::string &_name)
Constructor.
bool SDF(const sdf::ElementPtr _sdfElement)
Set this preset profile's SDF.
bool SetAllPhysicsParameters(PhysicsEnginePtr _physicsEngine) const
Set all parameters of this preset in the physics engine.
bool HasParam(const std::string &_key) const
Check if profile parameter is set.
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition PhysicsTypes.hh:125
Forward declarations for the common classes.
Definition Animation.hh:27