Physics.hh
00001 /* 00002 * Copyright 2011 Nate Koenig & Andrew Howard 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 * 00016 */ 00017 #ifndef __PHYSICS_HH__ 00018 #define __PHYSICS_HH__ 00019 00020 #include "physics/PhysicsTypes.hh" 00021 #include "sdf/sdf.h" 00022 00023 namespace gazebo 00024 { 00025 namespace physics 00026 { 00029 00030 bool load(); 00031 bool fini(); 00032 00033 WorldPtr create_world(const std::string &name=""); 00034 WorldPtr get_world(const std::string &name = ""); 00035 00036 void load_world(WorldPtr world, sdf::ElementPtr &_sdf); 00037 void init_world(WorldPtr world); 00038 void run_world(WorldPtr world); 00039 void stop_world(WorldPtr world); 00040 void pause_world(WorldPtr world, bool pause); 00041 00042 void load_worlds(sdf::ElementPtr &_sdf); 00043 void init_worlds(); 00044 void run_worlds(); 00045 void stop_worlds(); 00046 void pause_worlds( bool pause); 00047 void remove_worlds(); 00048 00050 } 00051 } 00052 #endif
