Physics.hh
Go to the documentation of this file.
1 /*
2  * Copyright 2018 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 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
class SDFORMAT_VISIBLE Element
Definition: Element.hh:49
The physics element specifies the type and properties of a dynamics engine.
Definition: Physics.hh:38
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:53
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:74
#define SDFORMAT_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system_util.hh:48
namespace for Simulation Description Format parser
Definition: Actor.hh:32