17 #ifndef IGNITION_GAZEBO_SERVER_HH_ 18 #define IGNITION_GAZEBO_SERVER_HH_ 24 #include <ignition/gazebo/config.hh> 26 #include <ignition/gazebo/Export.hh> 35 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
125 public:
void SetUpdatePeriod(
126 const std::chrono::steady_clock::duration &_updatePeriod,
127 const unsigned int _worldIndex = 0);
144 public:
bool Run(
const bool _blocking =
false,
145 const uint64_t _iterations = 0,
146 const bool _paused =
true);
155 public:
bool RunOnce(
const bool _paused =
true);
162 public:
bool Running()
const;
172 public: std::optional<bool> Running(
const unsigned int _worldIndex)
const;
181 public:
bool SetPaused(
const bool _paused,
182 const unsigned int _worldIndex = 0)
const;
190 public: std::optional<bool> Paused(
191 const unsigned int _worldIndex = 0)
const;
197 public: std::optional<uint64_t> IterationCount(
198 const unsigned int _worldIndex = 0)
const;
203 public: std::optional<size_t> EntityCount(
204 const unsigned int _worldIndex = 0)
const;
209 public: std::optional<size_t> SystemCount(
210 const unsigned int _worldIndex = 0)
const;
218 public: std::optional<bool> AddSystem(
220 const unsigned int _worldIndex = 0);
230 public: std::optional<Entity> EntityByName(
const std::string &_name,
231 const unsigned int _worldIndex = 0)
const;
240 const unsigned int _worldIndex = 0)
const;
255 public:
bool RequestRemoveEntity(
const std::string &_name,
256 bool _recursive =
true,
257 const unsigned int _worldIndex = 0);
270 public:
bool RequestRemoveEntity(
const Entity _entity,
271 bool _recursive =
true,
272 const unsigned int _worldIndex = 0);
The server instantiates and controls simulation.
Definition: Server.hh:108
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