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gazebo.hh
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1 /*
2  * Copyright (C) 2012-2014 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 _GAZEBO_HH_
18 #define _GAZEBO_HH_
19 
20 #include <gazebo/gazebo_core.hh>
21 #include <string>
22 #include <vector>
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
30  void print_version() GAZEBO_DEPRECATED(2.3);
31 
35  void add_plugin(const std::string &_filename) GAZEBO_DEPRECATED(2.3);
36 
40  std::string find_file(const std::string &_file) GAZEBO_DEPRECATED(2.3);
41 
46  bool load(int _argc = 0, char **_argv = 0) GAZEBO_DEPRECATED(2.3);
47 
52  bool init() GAZEBO_DEPRECATED(2.3);
53 
58  void run() GAZEBO_DEPRECATED(2.3);
59 
63  void stop() GAZEBO_DEPRECATED(2.3);
64 
68  void fini() GAZEBO_DEPRECATED(2.3);
69 
72  void printVersion();
73 
77  void addPlugin(const std::string &_filename);
78 
85  bool setupServer(int _argc = 0, char **_argv = 0);
86 
96  bool setupServer(const std::vector<std::string> &_args);
97 
104  bool setupClient(int _argc = 0, char **_argv = 0);
105 
115  bool setupClient(const std::vector<std::string> &_args);
116 
121  gazebo::physics::WorldPtr loadWorld(const std::string &_worldFile);
122 
127  void runWorld(gazebo::physics::WorldPtr _world, unsigned int _iterations);
128 
132  bool shutdown();
133 }
134 
135 #endif
GAZEBO_VISIBLE void runWorld(gazebo::physics::WorldPtr _world, unsigned int _iterations)
Run a world for a specific number of iterations.
Forward declarations for the common classes.
Definition: Animation.hh:24
GAZEBO_VISIBLE void printVersion()
Output version information to the terminal.
STL namespace.
#define GAZEBO_DEPRECATED(version)
Definition: CommonTypes.hh:44
GAZEBO_VISIBLE bool load(int _argc=0, char **_argv=0) GAZEBO_DEPRECATED(2.3)
Deprecated.
GAZEBO_VISIBLE bool init() GAZEBO_DEPRECATED(2.3)
Deprecated.
GAZEBO_VISIBLE void add_plugin(const std::string &_filename) GAZEBO_DEPRECATED(2.3)
Deprecated.
GAZEBO_VISIBLE void fini() GAZEBO_DEPRECATED(2.3)
Deprecated.
GAZEBO_VISIBLE void print_version() GAZEBO_DEPRECATED(2.3)
Deprecated.
GAZEBO_VISIBLE gazebo::physics::WorldPtr loadWorld(const std::string &_worldFile)
Create and load a new world from an SDF world file.
GAZEBO_VISIBLE bool shutdown()
Stop and cleanup simulation.
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:77
GAZEBO_VISIBLE bool setupClient(int _argc=0, char **_argv=0)
Start a gazebo client.
GAZEBO_VISIBLE void addPlugin(const std::string &_filename)
Add a system plugin.
GAZEBO_VISIBLE std::string find_file(const std::string &_file) GAZEBO_DEPRECATED(2.3)
Not implemented.
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48
GAZEBO_VISIBLE bool setupServer(int _argc=0, char **_argv=0)
Start a gazebo server.
GAZEBO_VISIBLE void stop() GAZEBO_DEPRECATED(2.3)
Deprecated.
GAZEBO_VISIBLE void run() GAZEBO_DEPRECATED(2.3)
Deprecated.