WorldState.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.
 *
*/
/* Desc: A world state
 * Author: Nate Koenig
 */

#ifndef _WORLDSTATE_HH_
#define _WORLDSTATE_HH_

#include <string>
#include <vector>

#include <sdf/sdf.hh>

#include "gazebo/physics/State.hh"
#include "gazebo/physics/ModelState.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

    class GAZEBO_VISIBLE WorldState : public State
    {
      public: WorldState();

      public: explicit WorldState(const WorldPtr _world);

      public: explicit WorldState(const sdf::ElementPtr _sdf);

      public: virtual ~WorldState();

      public: void Load(const WorldPtr _world);

      public: virtual void Load(const sdf::ElementPtr _elem);

      public: void SetWorld(const WorldPtr _world);

      public: ModelState_M GetModelStates(const boost::regex &_regex) const;

      public: const ModelState_M &GetModelStates() const;

      public: unsigned int GetModelStateCount() const;

      public: ModelState GetModelState(const std::string &_modelName) const;

      public: bool HasModelState(const std::string &_modelName) const;

      public: bool IsZero() const;

      public: void FillSDF(sdf::ElementPtr _sdf);

      public: virtual void SetWallTime(const common::Time &_time);

      public: virtual void SetRealTime(const common::Time &_time);

      public: virtual void SetSimTime(const common::Time &_time);

      public: WorldState &operator=(const WorldState &_state);

      public: WorldState operator-(const WorldState &_state) const;

      public: WorldState operator+(const WorldState &_state) const;

      public: inline friend std::ostream &operator<<(std::ostream &_out,
                  const gazebo::physics::WorldState &_state)
      {
        _out << "<state world_name='" << _state.name << "'>"
          << "<sim_time>" << _state.simTime << "</sim_time>"
          << "<wall_time>" << _state.wallTime << "</wall_time>"
          << "<real_time>" << _state.realTime << "</real_time>";

        // List all of the inserted models
        if (_state.insertions.size() > 0)
        {
          _out << "<insertions>";
          for (std::vector<std::string>::const_iterator iter =
               _state.insertions.begin();
               iter != _state.insertions.end(); ++iter)
          {
            _out << *iter;
          }
          _out << "</insertions>";
        }

        // List all of the deleted models
        if (_state.deletions.size() > 0)
        {
          _out << "<deletions>";
          for (std::vector<std::string>::const_iterator iter =
               _state.deletions.begin();
               iter != _state.deletions.end(); ++iter)
          {
            _out << "<name>" << (*iter) << "</name>";
          }
          _out << "</deletions>";
        }

        // List the model states
        for (ModelState_M::const_iterator iter = _state.modelStates.begin();
            iter != _state.modelStates.end(); ++iter)
        {
          _out << iter->second;
        }

        _out << "</state>";

        return _out;
      }

      private: ModelState_M modelStates;

      private: std::vector<std::string> insertions;

      private: std::vector<std::string> deletions;

      private: WorldPtr world;
    };
  }
}
#endif