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World.hh Go to the documentation of this file. /* * Gazebo - Outdoor Multi-Robot Simulator * Copyright (C) 2003 * Nate Koenig & Andrew Howard * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * */ /* Desc: The world; all models are collected here * Author: Nate Koenig, Andrew Howard * Date: 8 May 2003 * CVS: $Id: World.hh,v 1.46 2004/11/30 03:46:39 natepak Exp $ */ #ifndef WORLD_HH #define WORLD_HH #include "Geom.hh" #include "Model.hh" #include "Sensor.hh" // Forward declarations class WorldFile; class WorldFileNode; typedef struct gz_server gz_server_t; typedef struct gz_sim gz_sim_t; class World { // Constructor public: World(int serverId, bool serverForce); // Destructor public: virtual ~World(); public: int Load( WorldFile *worldFile ); // Load models (recursive) public: int LoadModel( WorldFileNode *node, Model *parent ); // Try to load a given plugin, using a particular search algorithm. private: int LoadPlugin(const char* pluginname, const char *worldfilepath); public: void SetModelPose( Model *model, GzPose pose ); public: void ResetModelPoses(); public: int Save(); // Initialize the world public: int Initialize(); // Finalize the world public: int Finalize(); // Move the world forward in time public: void Step(); // Do collision detection private: static void CollisionCallback( void *data, dGeomID o1, dGeomID o2 ); public: double GetSimTime(); public: double GetPauseTime(); public: double GetRealTime(); public: double GetWallTime(); public: double GetDayTime(); public: int GetNumModels() const; public: Model **GetModels() const; private: void AddModel( Model *model ); // Get the world space id public: dSpaceID GetSpaceId() {return this->spaceId;} // World file private: WorldFile *worldFile; // Server id public: int server_id; private: bool server_force; // Simulator control interface public: gz_server_t *gz_server; private: gz_sim_t *gz_sim; // Top-level world for all bodies public: dWorldID worldId; // Top-level space for all sub-spaces/geoms private: dSpaceID spaceId; // List of dynamic models in the world private: int modelCount, modelMaxCount; private: Model **models; // Collision attributes private: dJointGroupID contactGroup; public: double simSpeed; private: double stepTime; private: bool pause; private: double simTime, pauseTime, startTime; // The gravity vector private: GzVector gravity; // The time offset private: double dayTime; public: double utcOffset; public: GzVector utmZone; public: GzVector utmOffset; // The color of the sky (default color) public: GzColor skyColor; // Fog settings public: bool fogEnable; public: double fogDensity; public: GzColor fogColor; // Warts friend class Model; }; #endif

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Last updated $Date: 2004/12/21 01:49:15 $

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