Sensors.hh

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/*
 * Copyright 2012 Nate Koenig
 *
 * 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 _GAZEBO_SENSORS_HH_
#define _GAZEBO_SENSORS_HH_

#include <string>
#include "sdf/sdf.hh"
#include "sensors/SensorTypes.hh"

namespace gazebo
{
  namespace sensors
  {

    bool load();

    std::string create_sensor(sdf::ElementPtr _elem,
                              const std::string &_worldName,
                              const std::string &_parentName);

    void remove_sensor(const std::string &_sensorName);

    void run_once(bool _force = true);

    void run();

    void stop();

    bool init();

    bool fini();

    bool remove_sensors();

    SensorPtr get_sensor(const std::string &_name);

  }
}
#endif