Wind.hh

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/*
 * Copyright (C) 2016 Open Source Robotics Foundation
 *
 * 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_PHYSICS_WIND_HH_
#define GAZEBO_PHYSICS_WIND_HH_

#include <string>
#include <functional>
#include <memory>
#include <boost/any.hpp>

#include "gazebo/msgs/msgs.hh"
#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {
    // Forward declare private data class.
    class WindPrivate;


    class GZ_PHYSICS_VISIBLE Wind
    {
      public: explicit Wind(World &_world, sdf::ElementPtr _sdf);

      public: virtual ~Wind();

      public: virtual void Load(sdf::ElementPtr _sdf);

      public: bool SetParam(const std::string &_key,
                            const boost::any &_value);

      public: boost::any Param(const std::string &_key) const;

      public: bool Param(const std::string &_key, boost::any &_value) const;

      private: void OnWindMsg(ConstWindPtr &_msg);

      private: void OnRequest(ConstRequestPtr &_msg);

      public: ignition::math::Vector3d WorldLinearVel(const Entity *_entity)
          const;

      public: ignition::math::Vector3d RelativeLinearVel(const Entity *_entity)
          const;

      public: const ignition::math::Vector3d& LinearVel(void) const;

      public: void SetLinearVel(const ignition::math::Vector3d& _vel);

      public: void SetLinearVelFunc(std::function< ignition::math::Vector3d (
          const Wind *_wind, const Entity *_entity) > _linearVelFunc);

      private: ignition::math::Vector3d LinearVelDefault(const Wind *_wind,
          const Entity *_entity);

      private: std::unique_ptr<WindPrivate> dataPtr;
    };
  }
}
#endif