State.hh

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/*
 * Copyright (C) 2012 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 generic physics state
 * Author: Nate Koenig
 */

#ifndef _STATE_HH_
#define _STATE_HH_

#ifdef _WIN32
  // Ensure that Winsock2.h is included before Windows.h, which can get
  // pulled in by anybody (e.g., Boost).
  #include <Winsock2.h>
#endif

#include <string>

#include <sdf/sdf.hh>

#include "gazebo/physics/PhysicsTypes.hh"
#include "gazebo/common/Time.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace physics
  {

    class GZ_PHYSICS_VISIBLE State
    {
      public: State();

      public: State(const std::string &_name,
                    const common::Time &_realTime,
                    const common::Time &_simTime,
                    const uint64_t _iterations);

      public: virtual ~State();

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

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

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

      public: std::string GetName() const;

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

      public: common::Time GetWallTime() const;

      public: common::Time GetRealTime() const;

      public: common::Time GetSimTime() const;

      public: uint64_t GetIterations() const;

      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: virtual void SetIterations(const uint64_t _iterations);

      protected: std::string name;

      protected: common::Time wallTime, realTime, simTime;

      protected: uint64_t iterations = 0;
    };
  }
}
#endif