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 <memory>
#include <optional>
#include <string>
#include <gz/math/SphericalCoordinates.hh>
#include <gz/math/Vector3.hh>
#include <gz/utils/ImplPtr.hh>
 
#include "sdf/Atmosphere.hh"
#include "sdf/Element.hh"
#include "sdf/Gui.hh"
#include "sdf/OutputConfig.hh"
#include "sdf/ParserConfig.hh"
#include "sdf/Plugin.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 Joint;
  class Light;
  class Model;
  class ParserConfig;
  class Physics;
  class 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: Errors ValidateGraphs() const;
 
    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: gz::math::Vector3d WindLinearVelocity() const;
 
    public: void SetWindLinearVelocity(const gz::math::Vector3d &_wind);
 
    public: gz::math::Vector3d Gravity() const;
 
    public: void SetGravity(const gz::math::Vector3d &_gravity);
 
    public: gz::math::Vector3d MagneticField() const;
 
    public: void SetMagneticField(const gz::math::Vector3d &_mag);
 
    public: const gz::math::SphericalCoordinates *
        SphericalCoordinates() const;
 
    public: void SetSphericalCoordinates(
        const gz::math::SphericalCoordinates &_coord);
 
    public: uint64_t ModelCount() const;
 
    public: const Model *ModelByIndex(const uint64_t _index) const;
 
    public: Model *ModelByIndex(uint64_t _index);
 
    public: const Model *ModelByName(const std::string &_name) const;
 
    public: Model *ModelByName(const std::string &_name);
 
    public: bool ModelNameExists(const std::string &_name) const;
 
    public: bool AddModel(const Model &_model);
 
    public: bool AddActor(const Actor &_actor);
 
    public: bool AddJoint(const Joint &_joint);
 
    public: bool AddLight(const Light &_light);
 
    public: bool AddPhysics(const Physics &_physics);
 
    public: bool AddFrame(const Frame &_frame);
 
    public: void ClearModels();
 
    public: void ClearActors();
 
    public: void ClearJoints();
 
    public: void ClearLights();
 
    public: void ClearPhysics();
 
    public: void ClearFrames();
 
    public: uint64_t ActorCount() const;
 
    public: const Actor *ActorByIndex(const uint64_t _index) const;
 
    public: Actor *ActorByIndex(uint64_t _index);
 
    public: bool ActorNameExists(const std::string &_name) const;
 
    public: uint64_t FrameCount() const;
 
    public: const Frame *FrameByIndex(const uint64_t _index) const;
 
    public: Frame *FrameByIndex(uint64_t _index);
 
    public: const Frame *FrameByName(const std::string &_name) const;
 
    public: Frame *FrameByName(const std::string &_name);
 
    public: bool FrameNameExists(const std::string &_name) const;
 
    public: uint64_t JointCount() const;
 
    public: const Joint *JointByIndex(uint64_t _index) const;
 
    public: Joint *JointByIndex(uint64_t _index);
 
    public: const Joint *JointByName(const std::string &_name) const;
 
    public: Joint *JointByName(const std::string &_name);
 
    public: bool JointNameExists(const std::string &_name) const;
 
    public: uint64_t LightCount() const;
 
    public: const Light *LightByIndex(const uint64_t _index) const;
 
    public: Light *LightByIndex(uint64_t _index);
 
    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: Physics *PhysicsByIndex(uint64_t _index);
 
    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;
 
    public: sdf::ElementPtr ToElement(
        const OutputConfig &_config = OutputConfig::GlobalConfig()) const;
 
    public: bool NameExistsInFrameAttachedToGraph(
                const std::string &_name) const;
 
    public: const sdf::Plugins &Plugins() const;
 
    public: sdf::Plugins &Plugins();
 
    public: void ClearPlugins();
 
    public: void AddPlugin(const Plugin &_plugin);
 
    public: void ResolveAutoInertials(sdf::Errors &_errors,
                                    const ParserConfig &_config);
 
    private: void SetPoseRelativeToGraph(
        sdf::ScopedGraph<PoseRelativeToGraph> _graph);
 
    private: void SetFrameAttachedToGraph(
        sdf::ScopedGraph<FrameAttachedToGraph> _graph);
 
    friend class Root;
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
  }
}
#endif