SensorsIface.hh

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/*
 * Copyright (C) 2012-2014 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_SENSORSIFACE_HH_
#define _GAZEBO_SENSORSIFACE_HH_

#include <string>
#include <sdf/sdf.hh>
#include "gazebo/common/CommonTypes.hh"
#include "gazebo/sensors/SensorTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace sensors
  {

    GAZEBO_VISIBLE
    bool load();

    GAZEBO_VISIBLE
    std::string create_sensor(sdf::ElementPtr _elem,
        const std::string &_worldName,
        const std::string &_parentName) GAZEBO_DEPRECATED(2.0);

    GAZEBO_VISIBLE
    std::string create_sensor(sdf::ElementPtr _elem,
        const std::string &_worldName, const std::string &_parentName,
        uint32_t _parentId);

    GAZEBO_VISIBLE
    void remove_sensor(const std::string &_sensorName);

    GAZEBO_VISIBLE
    void run_once(bool _force = false);

    GAZEBO_VISIBLE
    void run_threads();

    GAZEBO_VISIBLE
    void stop();

    GAZEBO_VISIBLE
    bool init();

    GAZEBO_VISIBLE
    bool fini();

    GAZEBO_VISIBLE
    bool remove_sensors();

    GAZEBO_VISIBLE
    SensorPtr get_sensor(const std::string &_name);

    GAZEBO_VISIBLE
    void disable();

    GAZEBO_VISIBLE
    void enable();
  }
}
#endif