Gazebo Physics

API Reference

7.4.0
ConstructModel.hh
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4  * Licensed under the Apache License, Version 2.0 (the "License");
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17 
18 #ifndef GZ_PHYSICS_SDF_CONSTRUCTMODEL_HH_
19 #define GZ_PHYSICS_SDF_CONSTRUCTMODEL_HH_
20 
21 #include <sdf/Model.hh>
22 
24 
25 namespace gz {
26 namespace physics {
27 namespace sdf {
28 
31 class ConstructSdfModel : public virtual Feature
32 {
33  public: template <typename PolicyT, typename FeaturesT>
34  class World : public virtual Feature::World<PolicyT, FeaturesT>
35  {
36  public: using ModelPtrType = ModelPtr<PolicyT, FeaturesT>;
37 
38  public: ModelPtrType ConstructModel(const ::sdf::Model &_model);
39  };
40 
41  public: template <typename PolicyT>
42  class Implementation : public virtual Feature::Implementation<PolicyT>
43  {
44  public: virtual Identity ConstructSdfModel(
45  const Identity &_world, const ::sdf::Model &_model) = 0;
46  };
47 };
48 
50 template <typename PolicyT, typename FeaturesT>
52  const ::sdf::Model &_model) -> ModelPtrType
53 {
54  return ModelPtrType(this->pimpl,
55  this->template Interface<ConstructSdfModel>()
56  ->ConstructSdfModel(this->identity, _model));
57 }
58 }
59 }
60 }
61 
62 #endif