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World.hh

/*
 *  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: Andrew Howard and Nate Koenig
 * Date: 3 Apr 2007
 * SVN: $Id: World.hh 123 2007-09-19 20:36:14Z natepak $
 */

#ifndef WORLD_HH
#define WORLD_HH

#include <vector>
#include "SingletonT.hh"
#include "Vector3.hh"
#include "Pose3d.hh"

namespace gazebo
{

// Forward declarations
  class Server;
  class SimulationIface;
  class Model;
  class PhysicsEngine;
  class XMLConfigNode;
  class XMLConfig;

/*
 * The world class keps a list of all models, handles loading and saving,
 * object dynamics and collision detection for contact joints
 */
class World : public SingletonT<World>
{
  private: World();

  private: ~World();

  public: void Load(XMLConfig *node, int serverId);

  public: int Init();

  public: int Update();

  public: int Fini();

  public: Server *GetGzServer() const;

  public: PhysicsEngine *GetPhysicsEngine() const;

  public: double GetSimTime() const;

  public: double GetPauseTime() const;

  public: double GetStartTime() const;

  public: double GetRealTime() const;

  public: double GetWallTime() const;

  public: int LoadEntities(XMLConfigNode *node, Model *parent);

  public: void DeleteEntity(const char *name);

  public: Model *GetModelByName(std::string modelName);

  private: Model *LoadModel(XMLConfigNode *node, Model *parent);

  private: void SetModelPose(Model *model , Pose3d pose);

  private: void UpdateSimulationIface();

  private: PhysicsEngine *physicsEngine;

  private: std::vector< Model* > models;

  private: std::vector< Model* > toAddModels;

  private: std::vector< Model* > toDeleteModels;

  private: Server *server;

  private: SimulationIface *simIface;

  private: bool pause;

  private: double simTime, pauseTime, startTime;

  private: friend class DestroyerT<World>;
  private: friend class SingletonT<World>;
};


}

#endif

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Last updated Aug 04 2007