gazebo.hh
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1 /*
2  * Copyright (C) 2012 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 {
29  void printVersion();
30 
34  void addPlugin(const std::string &_filename);
35 
42  bool setupServer(int _argc = 0, char **_argv = 0);
43 
53  bool setupServer(const std::vector<std::string> &_args);
54 
59  gazebo::physics::WorldPtr loadWorld(const std::string &_worldFile);
60 
65  void runWorld(gazebo::physics::WorldPtr _world, unsigned int _iterations);
66 
70  bool shutdown();
71 }
72 
73 #endif
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:89
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:33
GAZEBO_VISIBLE void printVersion()
Output version information to the terminal.
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.
GAZEBO_VISIBLE void addPlugin(const std::string &_filename)
Add a system plugin.
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:58
GAZEBO_VISIBLE bool setupServer(int _argc=0, char **_argv=0)
Start a gazebo server.