StopWorldPlugin.hh

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/*
 * Copyright (C) 2018 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_PLUGINS_STOPWORLDPLUGIN_HH_
#define GAZEBO_PLUGINS_STOPWORLDPLUGIN_HH_

#include "gazebo/common/Plugin.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  class GZ_PLUGIN_VISIBLE StopWorldPlugin : public SystemPlugin
  {
    public: virtual ~StopWorldPlugin();

    public: void Load(int _argc, char **_argv);

    private: void Init();

    private: void OnWorldUpdate();

    private: void OnWorldStopped();

    private: event::ConnectionPtr worldConn;

    private: physics::WorldPtr world;
  };
}

#endif