Gazebo Physics

API Reference

2.6.2
gz/physics/RequestFeatures.hh
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2020 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 
18 #ifndef GZ_PHYSICS_REQUESTFEATURES_HH_
19 #define GZ_PHYSICS_REQUESTFEATURES_HH_
20 
21 #include <set>
22 #include <string>
23 
24 #include <gz/physics/Entity.hh>
25 
26 namespace ignition
27 {
28  namespace physics
29  {
33  template <typename ToFeatureList>
34  struct RequestFeatures
35  {
36  using Features = typename ToFeatureList::Features;
37 
47  template <
48  typename PolicyT,
49  typename FromFeatureList,
50  template <typename, typename> class EntityT>
52  const EntityPtr<EntityT<PolicyT, FromFeatureList>> &_from);
53 
63  template <
64  typename PolicyT,
65  typename FromFeatureList,
66  template <typename, typename> class EntityT>
68  const EntityPtr<EntityT<PolicyT, FromFeatureList>> &_entity);
69  };
70  }
71 }
72 
73 #include <gz/physics/detail/RequestFeatures.hh>
74 
75 #endif
static EntityPtr< EntityT< PolicyT, ToFeatureList > > From(const EntityPtr< EntityT< PolicyT, FromFeatureList >> &_from)
Cast an entity to another entity pointer, with the requested set of features.
static std::set< std::string > MissingFeatureNames(const EntityPtr< EntityT< PolicyT, FromFeatureList >> &_entity)
Check which features from the requested list are missing from the entity's plugin.
Definition: gz/physics/Entity.hh:42
typename ToFeatureList::Features Features
Definition: gz/physics/RequestFeatures.hh:36