gazebo.hh

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/*
 * Copyright (C) 2012-2015 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_HH_
#define _GAZEBO_HH_

#include <gazebo/gazebo_core.hh>
#include <string>
#include <vector>
#include "gazebo/util/system.hh"

namespace gazebo
{
  GAZEBO_VISIBLE
  void printVersion();

  GAZEBO_VISIBLE
  void addPlugin(const std::string &_filename);

  GAZEBO_VISIBLE
  bool setupServer(int _argc = 0, char **_argv = 0);

  GAZEBO_VISIBLE
  bool setupServer(const std::vector<std::string> &_args);

  GAZEBO_VISIBLE
  bool setupClient(int _argc = 0, char **_argv = 0);

  GAZEBO_VISIBLE
  bool setupClient(const std::vector<std::string> &_args);

  GAZEBO_VISIBLE
  gazebo::physics::WorldPtr loadWorld(const std::string &_worldFile);

  GAZEBO_VISIBLE
  void runWorld(gazebo::physics::WorldPtr _world, unsigned int _iterations);

  GAZEBO_VISIBLE
  bool shutdown();
}

#endif