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PhysicsIface.hh
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1 /*
2  * Copyright 2013 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef _PHYSICSIFACE_HH_
18 #define _PHYSICSIFACE_HH_
19 
20 #include <string>
21 #include <sdf/sdf.hh>
22 
24 
25 namespace gazebo
26 {
29  namespace physics
30  {
33 
35  bool load();
36 
38  bool fini();
39 
43  WorldPtr create_world(const std::string &_name ="");
44 
48  WorldPtr get_world(const std::string &_name = "");
49 
53  void load_world(WorldPtr _world, sdf::ElementPtr _sdf);
54 
57  void init_world(WorldPtr _world);
58 
63  void run_world(WorldPtr _world, unsigned int _iterations = 0);
64 
67  void stop_world(WorldPtr _world);
68 
72  void pause_world(WorldPtr _world, bool _pause);
73 
76  void load_worlds(sdf::ElementPtr _sdf);
77 
80  void init_worlds();
81 
86  void run_worlds(unsigned int _iterations = 0);
87 
90  void stop_worlds();
91 
95  void pause_worlds(bool pause);
96 
99  void remove_worlds();
100 
103  bool worlds_running();
105  }
106 }
107 #endif