17 #ifndef IGNITION_GAZEBO_SERVER_HH_ 18 #define IGNITION_GAZEBO_SERVER_HH_ 23 #include <ignition/gazebo/config.hh> 25 #include <ignition/gazebo/Export.hh> 34 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
124 public:
void SetUpdatePeriod(
125 const std::chrono::steady_clock::duration &_updatePeriod,
126 const unsigned int _worldIndex = 0);
143 public:
bool Run(
const bool _blocking =
false,
144 const uint64_t _iterations = 0,
145 const bool _paused =
true);
152 public:
bool Running()
const;
162 public: std::optional<bool> Running(
const unsigned int _worldIndex)
const;
171 public:
bool SetPaused(
const bool _paused,
172 const unsigned int _worldIndex = 0)
const;
180 public: std::optional<bool> Paused(
181 const unsigned int _worldIndex = 0)
const;
187 public: std::optional<uint64_t> IterationCount(
188 const unsigned int _worldIndex = 0)
const;
193 public: std::optional<size_t> EntityCount(
194 const unsigned int _worldIndex = 0)
const;
199 public: std::optional<size_t> SystemCount(
200 const unsigned int _worldIndex = 0)
const;
208 public: std::optional<bool> AddSystem(
210 const unsigned int _worldIndex = 0);
220 public: std::optional<Entity> EntityByName(
const std::string &_name,
221 const unsigned int _worldIndex = 0)
const;
230 const unsigned int _worldIndex = 0)
const;
245 public:
bool RequestRemoveEntity(
const std::string &_name,
246 bool _recursive =
true,
247 const unsigned int _worldIndex = 0);
260 public:
bool RequestRemoveEntity(
const Entity _entity,
261 bool _recursive =
true,
262 const unsigned int _worldIndex = 0);
The server instantiates and controls simulation.
Definition: Server.hh:107
Configuration parameters for a Server. An instance of this object can be used to construct a Server w...
Definition: ServerConfig.hh:42
This library is part of the Ignition Robotics project.
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light. At its core, an Entity is just an identifier.
Definition: Entity.hh:59