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SensorsIface.hh
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1 /*
2  * Copyright 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef _GAZEBO_SENSORSIFACE_HH_
18 #define _GAZEBO_SENSORSIFACE_HH_
19 
20 #include <string>
21 #include <sdf/sdf.hh>
23 
24 namespace gazebo
25 {
26  namespace sensors
27  {
30 
33  bool load();
34 
36  std::string create_sensor(sdf::ElementPtr _elem,
37  const std::string &_worldName,
38  const std::string &_parentName) GAZEBO_DEPRECATED(1.10);
39 
45  std::string create_sensor(sdf::ElementPtr _elem,
46  const std::string &_worldName, const std::string &_parentName,
47  uint32_t _parentId);
48 
51  void remove_sensor(const std::string &_sensorName);
52 
56  void run_once(bool _force = false);
57 
59  void run_threads();
60 
62  void stop();
63 
66  bool init();
67 
70  bool fini();
71 
74  bool remove_sensors();
75 
87  SensorPtr get_sensor(const std::string &_name);
88 
90  }
91 }
92 #endif