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gazebo
physics
State.hh
Go to the documentation of this file.
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/*
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* Copyright 2011 Nate Koenig
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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/* Desc: A generic physics state
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* Author: Nate Koenig
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*/
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#ifndef _STATE_HH_
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#define _STATE_HH_
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#include <string>
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#include "
sdf/sdf.hh
"
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#include "
physics/PhysicsTypes.hh
"
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#include "
common/Time.hh
"
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namespace
gazebo
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{
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namespace
physics
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{
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class
State
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{
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public
:
State
();
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public
:
State
(
const
std::string &_name,
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const
common::Time
&_realTime,
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const
common::Time
&_simTime);
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public
:
virtual
~State
();
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public
:
virtual
void
Load
(
sdf::ElementPtr
_elem) = 0;
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public
: std::string
GetName
()
const
;
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public
:
common::Time
GetWallTime
()
const
;
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public
:
common::Time
GetRealTime
()
const
;
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public
:
common::Time
GetSimTime
()
const
;
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protected
: std::string
name
;
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protected
:
common::Time
wallTime
,
realTime
,
simTime
;
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};
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}
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}
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#endif