Gazebo Physics
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7.4.0
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src
gz-physics
include
gz
physics
RequestEngine.hh
Go to the documentation of this file.
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/*
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* Copyright (C) 2018 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef GZ_PHYSICS_REQUESTENGINE_HH_
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#define GZ_PHYSICS_REQUESTENGINE_HH_
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#include <memory>
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#include <set>
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#include <string>
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#include <
gz/physics/FeatureList.hh
>
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namespace
gz
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{
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namespace
physics
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{
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template
<
typename
FeaturePolicyT,
typename
FeatureListT>
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struct
RequestEngine
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{
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// Forward declaration of the Engine type that will be returned
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using
EnginePtrType
= EnginePtr<FeaturePolicyT, FeatureListT>;
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// Tuple of features that are being requested
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using
Features
= FeatureListT;
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template
<
typename
PtrT>
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static
EnginePtrType
From
(
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const
PtrT &_pimpl,
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const
std::size_t
_engineID = 0);
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template
<
typename
PtrT>
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static
bool
Verify
(
const
PtrT &_pimpl);
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template
<
typename
PtrT>
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static
std::set<std::string>
MissingFeatureNames
(
const
PtrT &_pimpl);
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};
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#define GZ_PHYSICS_REQUEST_FEATURES_MACRO(X) \
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template <typename FeatureList> \
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using RequestEngine ## X = \
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RequestEngine<FeaturePolicy ## X, FeatureList>;
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GZ_PHYSICS_REQUEST_FEATURES_MACRO
(3d)
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GZ_PHYSICS_REQUEST_FEATURES_MACRO
(2d)
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GZ_PHYSICS_REQUEST_FEATURES_MACRO
(3f)
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GZ_PHYSICS_REQUEST_FEATURES_MACRO
(2f)
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}
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}
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#include <gz/physics/detail/RequestEngine.hh>
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#endif