WorldState.hh
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1 /*
2  * Copyright (C) 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 /* Desc: A world state
18  * Author: Nate Koenig
19  */
20 
21 #ifndef GAZEBO_PHYSICS_WORLDSTATE_HH_
22 #define GAZEBO_PHYSICS_WORLDSTATE_HH_
23 
24 #include <string>
25 #include <vector>
26 
27 #include <sdf/sdf.hh>
28 
29 #include "gazebo/physics/State.hh"
32 #include "gazebo/util/system.hh"
33 
34 namespace gazebo
35 {
36  namespace physics
37  {
40 
47  class GZ_PHYSICS_VISIBLE WorldState : public State
48  {
50  public: WorldState();
51 
56  public: explicit WorldState(const WorldPtr _world);
57 
62  public: explicit WorldState(const sdf::ElementPtr _sdf);
63 
65  public: virtual ~WorldState();
66 
71  public: void Load(const WorldPtr _world);
72 
78  public: void LoadWithFilter(const WorldPtr _world,
79  const std::string &_filter);
80 
85  public: virtual void Load(const sdf::ElementPtr _elem);
86 
89  public: void SetWorld(const WorldPtr _world);
90 
95  public: ModelState_M GetModelStates(const boost::regex &_regex) const;
96 
99  public: const ModelState_M &GetModelStates() const;
100 
103  public: const LightState_M &LightStates() const;
104 
109  public: unsigned int GetModelStateCount() const;
110 
115  public: unsigned int LightStateCount() const;
116 
121  public: ModelState GetModelState(const std::string &_modelName) const;
122 
127  public: LightState GetLightState(const std::string &_lightName) const;
128 
133  public: bool HasModelState(const std::string &_modelName) const;
134 
139  public: bool HasLightState(const std::string &_lightName) const;
140 
144  public: const std::vector<std::string> &Insertions() const;
145 
150  public: void SetInsertions(const std::vector<std::string> &_insertions);
151 
155  public: const std::vector<std::string> &Deletions() const;
156 
160  public: void SetDeletions(const std::vector<std::string> &_deletions);
161 
166  public: bool IsZero() const;
167 
170  public: void FillSDF(sdf::ElementPtr _sdf);
171 
175  public: virtual void SetWallTime(const common::Time &_time);
176 
179  public: virtual void SetRealTime(const common::Time &_time);
180 
183  public: virtual void SetSimTime(const common::Time &_time);
184 
188  public: virtual void SetIterations(const uint64_t _iterations);
189 
193  public: WorldState &operator=(const WorldState &_state);
194 
198  public: WorldState operator-(const WorldState &_state) const;
199 
203  public: WorldState operator+(const WorldState &_state) const;
204 
209  public: inline friend std::ostream &operator<<(std::ostream &_out,
210  const gazebo::physics::WorldState &_state)
211  {
212  _out << "<state world_name='" << _state.name << "'>"
213  << "<sim_time>" << _state.simTime << "</sim_time>"
214  << "<wall_time>" << _state.wallTime << "</wall_time>"
215  << "<real_time>" << _state.realTime << "</real_time>"
216  << "<iterations>" << _state.iterations << "</iterations>";
217 
218  // List all of the inserted models
219  if (_state.insertions.size() > 0)
220  {
221  _out << "<insertions>";
222  for (std::vector<std::string>::const_iterator iter =
223  _state.insertions.begin();
224  iter != _state.insertions.end(); ++iter)
225  {
226  _out << *iter;
227  }
228  _out << "</insertions>";
229  }
230 
231  // List all of the deleted models
232  if (_state.deletions.size() > 0)
233  {
234  _out << "<deletions>";
235  for (std::vector<std::string>::const_iterator iter =
236  _state.deletions.begin();
237  iter != _state.deletions.end(); ++iter)
238  {
239  _out << "<name>" << (*iter) << "</name>";
240  }
241  _out << "</deletions>";
242  }
243 
244  // List the model states
245  for (const auto &model : _state.modelStates)
246  {
247  _out << model.second;
248  }
249 
250  // List the light states
251  for (const auto &light : _state.lightStates)
252  {
253  _out << light.second;
254  }
255 
256  _out << "</state>";
257 
258  return _out;
259  }
260 
262  private: ModelState_M modelStates;
263 
265  private: LightState_M lightStates;
266 
269  private: std::vector<std::string> insertions;
270 
273  private: std::vector<std::string> deletions;
274 
276  private: WorldPtr world;
277  };
279  }
280 }
281 #endif
friend std::ostream & operator<<(std::ostream &_out, const gazebo::physics::WorldState &_state)
Stream insertion operator.
Definition: WorldState.hh:209
uint64_t iterations
The number of simulation iterations when this state was generated.
Definition: State.hh:137
std::string name
Name associated with this State.
Definition: State.hh:130
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
std::map< std::string, ModelState > ModelState_M
Definition: PhysicsTypes.hh:233
common::Time wallTime
Times for the state data.
Definition: State.hh:133
common::Time realTime
Definition: State.hh:133
State of an entity.
Definition: State.hh:49
Store state information of a Light object.
Definition: LightState.hh:38
std::map< std::string, LightState > LightState_M
Definition: PhysicsTypes.hh:237
common::Time simTime
Definition: State.hh:133
Store state information of a physics::Model object.
Definition: ModelState.hh:49
Store state information of a physics::World object.
Definition: WorldState.hh:47
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:44