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);
154 public:
bool RunOnce(
const bool _paused =
true);
161 public:
bool Running()
const;
171 public: std::optional<bool> Running(
const unsigned int _worldIndex)
const;
180 public:
bool SetPaused(
const bool _paused,
181 const unsigned int _worldIndex = 0)
const;
189 public: std::optional<bool> Paused(
190 const unsigned int _worldIndex = 0)
const;
196 public: std::optional<uint64_t> IterationCount(
197 const unsigned int _worldIndex = 0)
const;
202 public: std::optional<size_t> EntityCount(
203 const unsigned int _worldIndex = 0)
const;
208 public: std::optional<size_t> SystemCount(
209 const unsigned int _worldIndex = 0)
const;
217 public: std::optional<bool> AddSystem(
219 const unsigned int _worldIndex = 0);
229 public: std::optional<Entity> EntityByName(
const std::string &_name,
230 const unsigned int _worldIndex = 0)
const;
239 const unsigned int _worldIndex = 0)
const;
254 public:
bool RequestRemoveEntity(
const std::string &_name,
255 bool _recursive =
true,
256 const unsigned int _worldIndex = 0);
269 public:
bool RequestRemoveEntity(
const Entity _entity,
270 bool _recursive =
true,
271 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:43
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