Gazebo Physics

API Reference

7.4.0
RequestEngine.hh
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2  * Copyright (C) 2018 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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17 
18 #ifndef GZ_PHYSICS_REQUESTENGINE_HH_
19 #define GZ_PHYSICS_REQUESTENGINE_HH_
20 
21 #include <memory>
22 #include <set>
23 #include <string>
24 
26 
27 namespace gz
28 {
29  namespace physics
30  {
33  template <typename FeaturePolicyT, typename FeatureListT>
35  {
36  // Forward declaration of the Engine type that will be returned
37  using EnginePtrType = EnginePtr<FeaturePolicyT, FeatureListT>;
38 
39  // Tuple of features that are being requested
40  using Features = FeatureListT;
41 
58  template <typename PtrT>
60  const PtrT &_pimpl,
61  const std::size_t _engineID = 0);
62 
73  template <typename PtrT>
74  static bool Verify(const PtrT &_pimpl);
75 
87  template <typename PtrT>
88  static std::set<std::string> MissingFeatureNames(const PtrT &_pimpl);
89  };
90 
91 #define GZ_PHYSICS_REQUEST_FEATURES_MACRO(X) \
92  template <typename FeatureList> \
93  using RequestEngine ## X = \
94  RequestEngine<FeaturePolicy ## X, FeatureList>;
95 
100  }
101 }
102 
103 #include <gz/physics/detail/RequestEngine.hh>
104 
105 #endif