gazebo.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#ifndef _GAZEBO_HH_
18#define _GAZEBO_HH_
19
20#include <gazebo/gazebo_core.hh>
21#include <string>
22#include <vector>
23#include "gazebo/util/system.hh"
24
25namespace gazebo
26{
30
34 void addPlugin(const std::string &_filename);
35
42 bool setupServer(int _argc = 0, char **_argv = 0);
43
53 bool setupServer(const std::vector<std::string> &_args);
54
59 gazebo::physics::WorldPtr loadWorld(const std::string &_worldFile);
60
65 void runWorld(gazebo::physics::WorldPtr _world, unsigned int _iterations);
66
70 bool shutdown();
71}
72
73#endif
boost::shared_ptr< World > WorldPtr
Definition PhysicsTypes.hh:89
Forward declarations for the common classes.
Definition Animation.hh:27
GAZEBO_VISIBLE bool shutdown()
Stop and cleanup simulation.
GAZEBO_VISIBLE gazebo::physics::WorldPtr loadWorld(const std::string &_worldFile)
Create and load a new world from an SDF world file.
GAZEBO_VISIBLE void printVersion()
Output version information to the terminal.
GAZEBO_VISIBLE void addPlugin(const std::string &_filename)
Add a system plugin.
GAZEBO_VISIBLE bool setupServer(int _argc=0, char **_argv=0)
Start a gazebo server.
GAZEBO_VISIBLE void runWorld(gazebo::physics::WorldPtr _world, unsigned int _iterations)
Run a world for a specific number of iterations.
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition system.hh:59