22 #ifndef UTILS_GAZEBO_API_WRAPPERS_H_ 23 #define UTILS_GAZEBO_API_WRAPPERS_H_ 25 #include <gazebo/gazebo.hh> 29 #if GAZEBO_MAJOR_VERSION >= 8 31 # define GZWRAP_SIM_TIME SimTime 32 # define GZWRAP_REAL_TIME RealTime 33 # define GZWRAP_RUNNING Running 34 # define GZWRAP_MODEL_BY_NAME ModelByName 35 # define GZWRAP_MODEL_BY_INDEX ModelByIndex 36 # define GZWRAP_MODEL_COUNT ModelCount 37 # define GZWRAP_WORLD_POSE WorldPose 38 # define GZWRAP_ENTITY_BY_NAME EntityByName 39 # define GZWRAP_SIM_TIME SimTime 40 # define GZWRAP_NAME Name 41 # define GZWRAP_BOUNDING_BOX BoundingBox 42 # define GZWRAP_LENGTH Length 43 # define GZWRAP_MODELS Models 44 # define GZWRAP_PHYSICS Physics 45 # define GZWRAP_BASE_BY_NAME BaseByName 47 # define GZWRAP_POS Pos() 48 # define GZWRAP_ROT Rot() 49 # define GZWRAP_EULER Euler() 55 # define GZWRAP_ROT_ROLL Rot().Roll() 56 # define GZWRAP_ROT_PITCH Rot().Pitch() 57 # define GZWRAP_ROT_YAW Rot().Yaw() 61 # define GZWRAP_SIM_TIME GetSimTime 62 # define GZWRAP_REAL_TIME GetRealTime 63 # define GZWRAP_RUNNING GetRunning 64 # define GZWRAP_MODEL_BY_NAME GetModel 65 # define GZWRAP_MODEL_BY_INDEX GetModel 66 # define GZWRAP_MODEL_COUNT GetModelCount 67 # define GZWRAP_WORLD_POSE GetWorldPose 68 # define GZWRAP_ENTITY_BY_NAME GetEntity 69 # define GZWRAP_SIM_TIME GetSimTime 70 # define GZWRAP_NAME GetName 71 # define GZWRAP_BOUNDING_BOX GetBoundingBox 72 # define GZWRAP_LENGTH GetLength 73 # define GZWRAP_MODELS GetModels 74 # define GZWRAP_PHYSICS GetPhysicsEngine 75 # define GZWRAP_BASE_BY_NAME GetByName 77 # define GZWRAP_POS pos 78 # define GZWRAP_ROT rot 79 # define GZWRAP_EULER GetAsEuler() 85 # define GZWRAP_ROT_ROLL rot.GetRoll() 86 # define GZWRAP_ROT_PITCH rot.GetPitch() 87 # define GZWRAP_ROT_YAW rot.GetYaw() 91 #define GZWRAP_POS_X GZWRAP_POS.GZWRAP_X 92 #define GZWRAP_POS_Y GZWRAP_POS.GZWRAP_Y 93 #define GZWRAP_POS_Z GZWRAP_POS.GZWRAP_Z 95 #define GZWRAP_ROT_X GZWRAP_ROT.GZWRAP_X 96 #define GZWRAP_ROT_Y GZWRAP_ROT.GZWRAP_Y 97 #define GZWRAP_ROT_Z GZWRAP_ROT.GZWRAP_Z 98 #define GZWRAP_ROT_W GZWRAP_ROT.GZWRAP_W 100 #define GZWRAP_ROT_EULER_X GZWRAP_ROT.GZWRAP_EULER.GZWRAP_X 101 #define GZWRAP_ROT_EULER_Y GZWRAP_ROT.GZWRAP_EULER.GZWRAP_Y 102 #define GZWRAP_ROT_EULER_Z GZWRAP_ROT.GZWRAP_EULER.GZWRAP_Z 106 #if GAZEBO_MAJOR_VERSION >= 8 107 typedef ignition::math::Pose3d Pose3d;
108 typedef ignition::math::Vector3d Vector3d;
110 typedef gazebo::math::Pose Pose3d;
111 typedef gazebo::math::Vector3 Vector3d;
116 #endif // UTILS_GAZEBO_API_WRAPPERS_H_