Gazebo Physics

API Reference

2.6.2
gz/physics/dartsim/World.hh
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17 
18 #ifndef GZ_PHYSICS_DARTSIM_WORLD_HH_
19 #define GZ_PHYSICS_DARTSIM_WORLD_HH_
20 
21 #include <dart/simulation/World.hpp>
22 
24 
25 namespace ignition {
26 namespace physics {
27 namespace dartsim {
28 
30 class RetrieveWorld : public virtual Feature
31 {
32  public: template <typename PolicyT, typename FeaturesT>
33  class World : public virtual Feature::World<PolicyT, FeaturesT>
34  {
36  public: dart::simulation::WorldPtr GetDartsimWorld();
37  };
38 
39  public: template <typename PolicyT>
40  class Implementation : public virtual Feature::Implementation<PolicyT>
41  {
42  public: virtual dart::simulation::WorldPtr GetDartsimWorld(
43  const Identity &_worldID) = 0;
44  };
45 };
46 
49 template <typename PolicyT, typename FeaturesT>
50 dart::simulation::WorldPtr RetrieveWorld::World<PolicyT, FeaturesT>
52 {
53  return this->template Interface<RetrieveWorld>()
54  ->GetDartsimWorld(this->identity);
55 }
57 
58 }
59 }
60 }
61 
62 #endif
Definition: gz/physics/dartsim/World.hh:30
Definition: gz/physics/dartsim/World.hh:33
Definition: gz/physics/Feature.hh:92
This class defines the concept of a Feature. It should be inherited by classes that define some plugi...
Definition: gz/physics/Feature.hh:35
Placeholder class in case a Feature does not define its own World API.
Definition: gz/physics/Feature.hh:49
virtual dart::simulation::WorldPtr GetDartsimWorld(const Identity &_worldID)=0
Definition: gz/physics/dartsim/World.hh:40
dart::simulation::WorldPtr GetDartsimWorld()
Get the underlying dartsim world for this World object.
Definition: gz/physics/dartsim/World.hh:51