Physics.hh
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2  * Copyright 2018 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 #ifndef SDF_PHYSICS_HH_
18 #define SDF_PHYSICS_HH_
19 
20 #include <string>
21 
22 #include "sdf/Element.hh"
23 #include "sdf/Types.hh"
24 #include "sdf/sdf_config.h"
25 #include "sdf/system_util.hh"
26 
27 namespace sdf
28 {
29  // Inline bracket to help doxygen filtering.
30  inline namespace SDF_VERSION_NAMESPACE {
31  //
32 
33  // Forward declare private data class.
34  class PhysicsPrivate;
35 
39  {
41  public: Physics();
42 
45  public: Physics(const Physics &_physics);
46 
49  public: Physics(Physics &&_physics) noexcept;
50 
54  public: Physics &operator=(Physics &&_physics);
55 
59  public: Physics &operator=(const Physics &_physics);
60 
62  public: ~Physics();
63 
70  public: Errors Load(ElementPtr _sdf);
71 
74  public: std::string Name() const;
75 
78  public: void SetName(const std::string &_name) const;
79 
84  public: sdf::ElementPtr Element() const;
85 
92  public: bool IsDefault() const;
93 
96  public: void SetDefault(const bool _default) const;
97 
102  public: std::string EngineType() const;
103 
106  public: void SetEngineType(const std::string &_type);
107 
112  public: double MaxStepSize() const;
113 
116  public: void SetMaxStepSize(const double _step);
117 
122  public: double RealTimeFactor() const;
123 
126  public: void SetRealTimeFactor(const double _factor);
127 
129  private: PhysicsPrivate *dataPtr = nullptr;
130  };
131  }
132 }
133 #endif
sdf::v10::Physics
The physics element specifies the type and properties of a dynamics engine.
Definition: Physics.hh:38
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:32
sdf::v10::Errors
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:95
Types.hh
sdf::v10::ElementPtr
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:48
system_util.hh
sdf::v10::Element
class SDFORMAT_VISIBLE Element
Definition: Element.hh:49
Element.hh