World.hh

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/*
 * Copyright 2017 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 SDF_WORLD_HH_
#define SDF_WORLD_HH_

#include <string>
#include <ignition/math/Vector3.hh>
#include <ignition/utils/ImplPtr.hh>

#include "sdf/Atmosphere.hh"
#include "sdf/Element.hh"
#include "sdf/Gui.hh"
#include "sdf/Scene.hh"
#include "sdf/Types.hh"
#include "sdf/sdf_config.h"
#include "sdf/system_util.hh"

namespace sdf
{
  // Inline bracket to help doxygen filtering.
  inline namespace SDF_VERSION_NAMESPACE {
  //

  // Forward declare private data class.
  class Actor;
  class Frame;
  class InterfaceModel;
  class Light;
  class Model;
  class ParserConfig;
  class Physics;
  struct NestedInclude;
  struct PoseRelativeToGraph;
  struct FrameAttachedToGraph;
  template <typename T> class ScopedGraph;

  class SDFORMAT_VISIBLE World
  {
    public: World();

    public: Errors Load(ElementPtr _sdf);

    public: Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config);

    public: std::string Name() const;

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

    public: std::string AudioDevice() const;

    public: void SetAudioDevice(const std::string &_device);

    public: ignition::math::Vector3d WindLinearVelocity() const;

    public: void SetWindLinearVelocity(const ignition::math::Vector3d &_wind);

    public: ignition::math::Vector3d Gravity() const;

    public: void SetGravity(const ignition::math::Vector3d &_gravity);

    public: ignition::math::Vector3d MagneticField() const;

    public: void SetMagneticField(const ignition::math::Vector3d &_mag);

    public: uint64_t ModelCount() const;

    public: const Model *ModelByIndex(const uint64_t _index) const;

    public: const Model *ModelByName(const std::string &_name) const;

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

    public: uint64_t ActorCount() const;

    public: const Actor *ActorByIndex(const uint64_t _index) const;

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

    public: uint64_t FrameCount() const;

    public: const Frame *FrameByIndex(const uint64_t _index) const;

    public: const Frame *FrameByName(const std::string &_name) const;

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

    public: uint64_t LightCount() const;

    public: const Light *LightByIndex(const uint64_t _index) const;

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

    public: const sdf::Atmosphere *Atmosphere() const;

    public: void SetAtmosphere(const sdf::Atmosphere &_atmosphere);

    public: const sdf::Gui *Gui() const;

    public: void SetGui(const sdf::Gui &_gui);

    public: const sdf::Scene *Scene() const;

    public: void SetScene(const sdf::Scene &_scene);

    public: sdf::ElementPtr Element() const;

    public: uint64_t PhysicsCount() const;

    public: const Physics *PhysicsByIndex(const uint64_t _index) const;

    public: const Physics *PhysicsDefault() const;

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

    public: uint64_t InterfaceModelCount() const;

    public: std::shared_ptr<const InterfaceModel> InterfaceModelByIndex(
                const uint64_t _index) const;

    public: const NestedInclude* InterfaceModelNestedIncludeByIndex(
                const uint64_t _index) const;

    private: void SetPoseRelativeToGraph(
        sdf::ScopedGraph<PoseRelativeToGraph> _graph);

    private: void SetFrameAttachedToGraph(
        sdf::ScopedGraph<FrameAttachedToGraph> _graph);

    friend class Root;

    IGN_UTILS_IMPL_PTR(dataPtr)
  };
  }
}
#endif