PhysicsIface.hh

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/*
 * Copyright (C) 2012 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 _PHYSICSIFACE_HH_
#define _PHYSICSIFACE_HH_

#include <string>
#include <sdf/sdf.hh>

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

namespace gazebo
{
  namespace physics
  {

    GZ_PHYSICS_VISIBLE
    bool load();

    GZ_PHYSICS_VISIBLE
    bool fini();

    GZ_PHYSICS_VISIBLE
    WorldPtr create_world(const std::string &_name ="");

    GZ_PHYSICS_VISIBLE
    WorldPtr get_world(const std::string &_name = "");

    GZ_PHYSICS_VISIBLE
    bool has_world(const std::string &_name = "");

    GZ_PHYSICS_VISIBLE
    void load_world(WorldPtr _world, sdf::ElementPtr _sdf);

    GZ_PHYSICS_VISIBLE
    void init_world(WorldPtr _world) GAZEBO_DEPRECATED(11.0);

    GZ_PHYSICS_VISIBLE
    void init_world(WorldPtr _world, UpdateScenePosesFunc _func);

    GZ_PHYSICS_VISIBLE
    void run_world(WorldPtr _world, unsigned int _iterations = 0);

    GZ_PHYSICS_VISIBLE
    void stop_world(WorldPtr _world);

    GZ_PHYSICS_VISIBLE
    void pause_world(WorldPtr _world, bool _pause);

    GZ_PHYSICS_VISIBLE
    void load_worlds(sdf::ElementPtr _sdf);

    GZ_PHYSICS_VISIBLE
    void init_worlds() GAZEBO_DEPRECATED(11.0);

    GZ_PHYSICS_VISIBLE
    void init_worlds(UpdateScenePosesFunc _func);

    GZ_PHYSICS_VISIBLE
    void run_worlds(unsigned int _iterations = 0);

    GZ_PHYSICS_VISIBLE
    void stop_worlds();

    GZ_PHYSICS_VISIBLE
    void pause_worlds(bool pause);

    GZ_PHYSICS_VISIBLE
    void remove_worlds();

    GZ_PHYSICS_VISIBLE
    bool worlds_running();

    GZ_PHYSICS_VISIBLE
    uint32_t getUniqueId();
  }
}
#endif