PhysicsIface.hh
Go to the documentation of this file.
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 _PHYSICSIFACE_HH_
18#define _PHYSICSIFACE_HH_
19
20#include <string>
21#include <sdf/sdf.hh>
22
24#include "gazebo/util/system.hh"
25
26namespace gazebo
27{
30 namespace physics
31 {
34
36 GZ_PHYSICS_VISIBLE
37 bool load();
38
40 GZ_PHYSICS_VISIBLE
41 bool fini();
42
46 GZ_PHYSICS_VISIBLE
47 WorldPtr create_world(const std::string &_name ="");
48
52 GZ_PHYSICS_VISIBLE
53 WorldPtr get_world(const std::string &_name = "");
54
61 GZ_PHYSICS_VISIBLE
62 bool has_world(const std::string &_name = "");
63
67 GZ_PHYSICS_VISIBLE
68 void load_world(WorldPtr _world, sdf::ElementPtr _sdf);
69
72 GZ_PHYSICS_VISIBLE
73 void init_world(WorldPtr _world);
74
79 GZ_PHYSICS_VISIBLE
80 void run_world(WorldPtr _world, unsigned int _iterations = 0);
81
84 GZ_PHYSICS_VISIBLE
85 void stop_world(WorldPtr _world);
86
90 GZ_PHYSICS_VISIBLE
91 void pause_world(WorldPtr _world, bool _pause);
92
95 GZ_PHYSICS_VISIBLE
96 void load_worlds(sdf::ElementPtr _sdf);
97
100 GZ_PHYSICS_VISIBLE
102
107 GZ_PHYSICS_VISIBLE
108 void run_worlds(unsigned int _iterations = 0);
109
112 GZ_PHYSICS_VISIBLE
114
118 GZ_PHYSICS_VISIBLE
119 void pause_worlds(bool pause);
120
123 GZ_PHYSICS_VISIBLE
125
128 GZ_PHYSICS_VISIBLE
130
133 GZ_PHYSICS_VISIBLE
134 uint32_t getUniqueId();
136 }
137}
138#endif
default namespace for gazebo
bool has_world(const std::string &_name="")
checks if the world with this name exists.
void init_worlds()
initialize multiple worlds stored in static variable gazebo::g_worlds
void pause_world(WorldPtr _world, bool _pause)
Pause world by calling World::SetPaused.
bool load()
Setup gazebo::SystemPlugin's and call gazebo::transport::init.
bool worlds_running()
Return true if any world is running.
void load_world(WorldPtr _world, sdf::ElementPtr _sdf)
Load world from sdf::Element pointer.
void pause_worlds(bool pause)
pause multiple worlds stored in static variable gazebo::g_worlds
WorldPtr get_world(const std::string &_name="")
Returns a pointer to a world by name.
void init_world(WorldPtr _world)
Init world given a pointer to it.
bool fini()
Finalize transport by calling gazebo::transport::fini.
void stop_world(WorldPtr _world)
Stop world by calling World::Stop() given a pointer to it.
void stop_worlds()
stop multiple worlds stored in static variable gazebo::g_worlds
void load_worlds(sdf::ElementPtr _sdf)
load multiple worlds from single sdf::Element pointer
void remove_worlds()
remove multiple worlds stored in static variable gazebo::g_worlds
void run_worlds(unsigned int _iterations=0)
Run multiple worlds stored in static variable gazebo::g_worlds.
WorldPtr create_world(const std::string &_name="")
Create a world given a name.
uint32_t getUniqueId()
Get a unique ID.
void run_world(WorldPtr _world, unsigned int _iterations=0)
Run world by calling World::Run() given a pointer to it.
boost::shared_ptr< World > WorldPtr
Definition PhysicsTypes.hh:89
Forward declarations for the common classes.
Definition Animation.hh:27