Gazebo Physics

API Reference

7.4.0
Feature.hh
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1 /*
2  * Copyright (C) 2017 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
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8  * http://www.apache.org/licenses/LICENSE-2.0
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10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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16 */
17 
18 #ifndef GZ_PHYSICS_FEATURE_HH_
19 #define GZ_PHYSICS_FEATURE_HH_
20 
21 #include <cstddef>
22 #include <memory>
23 #include <tuple>
24 
25 #include <gz/physics/Export.hh>
26 #include <gz/physics/Entity.hh>
27 
28 namespace gz
29 {
30  namespace physics
31  {
35  class Feature
36  {
39  public: template <typename Policy, typename FeaturesT>
40  class Engine : public virtual Entity<Policy, FeaturesT>
41  {
43  public: virtual ~Engine() = default;
44  };
45 
48  public: template <typename Policy, typename FeaturesT>
49  class World : public virtual Entity<Policy, FeaturesT>
50  {
52  public: virtual ~World() = default;
53  };
54 
57  public: template <typename Policy, typename FeaturesT>
58  class Model : public virtual Entity<Policy, FeaturesT>
59  {
61  public: virtual ~Model() = default;
62  };
63 
66  public: template <typename Policy, typename FeaturesT>
67  class Link : public virtual Entity<Policy, FeaturesT>
68  {
70  public: virtual ~Link() = default;
71  };
72 
75  public: template <typename Policy, typename FeaturesT>
76  class Joint : public virtual Entity<Policy, FeaturesT>
77  {
79  public: virtual ~Joint() = default;
80  };
81 
84  public: template <typename Policy, typename FeaturesT>
85  class Shape : public virtual Entity<Policy, FeaturesT>
86  {
88  public: virtual ~Shape() = default;
89  };
90 
91  public: template <typename Policy>
92  class Implementation : public detail::Implementation
93  {
107  public: virtual Identity InitiateEngine(std::size_t engineID = 0) = 0;
108 
110  public: virtual ~Implementation() = default;
111  };
112 
117  template <typename SomeFeatureList, bool /*AssertNoConflict*/ = false>
118  static constexpr bool ConflictsWith()
119  {
120  return false;
121  }
122 
127  using RequiredFeatures = void;
128  };
129  }
130 }
131 
132 #endif