PhysicsTypes.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 GAZEBO_PHYSICS_PHYSICSTYPES_HH_
#define GAZEBO_PHYSICS_PHYSICSTYPES_HH_

#include <map>
#include <memory>
#include <string>
#include <vector>
#include <boost/shared_ptr.hpp>

#include "gazebo/msgs/poses_stamped.pb.h"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {
    class Base;
    class Entity;
    class World;
    class Model;
    class Actor;
    class Light;
    class Link;
    class Collision;
    class FrictionPyramid;
    class Gripper;
    class Joint;
    class JointController;
    class Contact;
    class PresetManager;
    class UserCmd;
    class UserCmdManager;
    class PhysicsEngine;
    class Wind;
    class Atmosphere;
    class Mass;
    class Road;
    class Shape;
    class RayShape;
    class MultiRayShape;
    class Inertial;
    class SurfaceParams;
    class BoxShape;
    class CylinderShape;
    class MeshShape;
    class SphereShape;
    class PlaneShape;
    class HeightmapShape;
    class PolylineShape;
    class ModelState;
    class LightState;
    class LinkState;
    class JointState;
    class TrajectoryInfo;

    typedef boost::shared_ptr<Base> BasePtr;

    typedef boost::shared_ptr<Contact> ContactPtr;

    typedef boost::shared_ptr<Entity> EntityPtr;

    typedef boost::shared_ptr<World> WorldPtr;

    typedef boost::shared_ptr<Model> ModelPtr;

    typedef boost::shared_ptr<Actor> ActorPtr;

    typedef std::shared_ptr<TrajectoryInfo> TrajectoryInfoPtr;

    typedef boost::shared_ptr<Light> LightPtr;

    typedef boost::shared_ptr<Link> LinkPtr;

    typedef boost::shared_ptr<Collision> CollisionPtr;

    typedef boost::shared_ptr<Joint> JointPtr;

    typedef boost::shared_ptr<JointController> JointControllerPtr;

    typedef boost::shared_ptr<PhysicsEngine> PhysicsEnginePtr;

    typedef boost::shared_ptr<PresetManager> PresetManagerPtr;

    typedef std::shared_ptr<UserCmd> UserCmdPtr;

    typedef std::shared_ptr<UserCmdManager> UserCmdManagerPtr;

    typedef boost::shared_ptr<Shape> ShapePtr;

    typedef boost::shared_ptr<RayShape> RayShapePtr;

    typedef boost::shared_ptr<HeightmapShape> HeightmapShapePtr;

    typedef boost::shared_ptr<MultiRayShape> MultiRayShapePtr;

    typedef boost::shared_ptr<Inertial> InertialPtr;

    typedef boost::shared_ptr<Road> RoadPtr;

    typedef boost::shared_ptr<FrictionPyramid> FrictionPyramidPtr;

    typedef boost::shared_ptr<SurfaceParams> SurfaceParamsPtr;

    typedef boost::shared_ptr<BoxShape> BoxShapePtr;

    typedef boost::shared_ptr<CylinderShape> CylinderShapePtr;

    typedef boost::shared_ptr<PlaneShape> PlaneShapePtr;

    typedef boost::shared_ptr<MeshShape> MeshShapePtr;

    typedef boost::shared_ptr<PolylineShape> PolylineShapePtr;

    typedef boost::shared_ptr<SphereShape> SphereShapePtr;

    typedef boost::shared_ptr<Gripper> GripperPtr;

    typedef std::vector<BasePtr> Base_V;

    typedef std::vector<ModelPtr> Model_V;

    typedef std::vector<ActorPtr> Actor_V;

    typedef std::vector<JointPtr> Joint_V;

    typedef std::vector<JointControllerPtr> JointController_V;

    typedef std::vector<LightPtr>  Light_V;

    typedef std::vector<LinkPtr>  Link_V;

    typedef std::vector<CollisionPtr>  Collision_V;

    typedef std::map<std::string, ModelState> ModelState_M;

    typedef std::map<std::string, LightState> LightState_M;

    typedef std::map<std::string, LinkState> LinkState_M;

    typedef std::map<std::string, JointState> JointState_M;

    using UpdateScenePosesFunc =
        std::function<void(const std::string &, const msgs::PosesStamped &)>;

    #ifndef GZ_COLLIDE_BITS

    #define GZ_ALL_COLLIDE 0x0FFFFFFF

    #define GZ_NONE_COLLIDE 0x00000000

    #define GZ_FIXED_COLLIDE 0x00000001

    #define GZ_SENSOR_COLLIDE 0x00000002

    #define GZ_GHOST_COLLIDE 0x10000000

    #endif
  }
}
#endif