PresetManager.hh

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/*
 * Copyright (C) 2015-2016 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_PHYSICS_PRESETMANAGER_HH_
#define _GAZEBO_PHYSICS_PRESETMANAGER_HH_

#include <boost/any.hpp>
#include <string>
#include <vector>
#include <sdf/sdf.hh>

#include "gazebo/physics/PhysicsTypes.hh"

namespace gazebo
{
  namespace physics
  {
    class PresetPrivate;

    class GAZEBO_VISIBLE Preset
    {
      public: Preset();

      public: Preset(const std::string & _name);

      public: ~Preset();

      public: std::string Name() const;

      public: bool GetParam(const std::string &_key, boost::any &_value) const;

      public: bool SetParam(const std::string &_key, const boost::any &_value);

      public: bool HasParam(const std::string &_key) const;

      public: bool SetAllPhysicsParameters(PhysicsEnginePtr _physicsEngine)
          const;

      public: bool SetAllParamsFromSDF(const sdf::ElementPtr _elem);

      private: bool SetAllParamsHelper(const sdf::ElementPtr _elem);

      public: sdf::ElementPtr SDF() const;

      public: bool SDF(const sdf::ElementPtr _sdfElement);

      private: PresetPrivate *dataPtr;
    };

    class PresetManagerPrivate;

    class GAZEBO_VISIBLE PresetManager
    {
      public: PresetManager(PhysicsEnginePtr _physicsEngine,
          const sdf::ElementPtr _sdf);

      public: ~PresetManager();

      public: bool CurrentProfile(const std::string &_name);

      public: std::string CurrentProfile() const;

      public: std::vector<std::string> AllProfiles() const;

      public: bool SetProfileParam(const std::string &_profileName,
          const std::string &_key, const boost::any &_value);

      public: bool GetProfileParam(const std::string &_name,
          const std::string &_key, boost::any &_value) const;

      public: bool SetCurrentProfileParam(const std::string &_key,
          const boost::any &_value);

      public: bool GetCurrentProfileParam(const std::string &_key,
          boost::any &_value);

      public: bool CreateProfile(const std::string &_name);

      public: std::string CreateProfile(const sdf::ElementPtr _sdf);

      public: void RemoveProfile(const std::string &_name);

      public: bool HasProfile(const std::string &_name) const;

      public: sdf::ElementPtr ProfileSDF(const std::string &_name) const;

      public: bool ProfileSDF(const std::string &_name,
          const sdf::ElementPtr _sdf);

      public: void GenerateSDFFromPreset(const std::string &_name,
          sdf::ElementPtr &_elem) const;

      private: void GenerateSDFHelper(const Preset &_preset,
          sdf::ElementPtr &_elem) const;

      private: void GeneratePresetFromSDF(const sdf::ElementPtr _elem,
          Preset &_preset) const;

      private: Preset *CurrentPreset() const;

      private: PresetManagerPrivate *dataPtr;
    };
  }
}

#endif