Gazebo Physics

API Reference

8.0.0
ConstructModel.hh
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1/*
2 * Copyright (C) 2018 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
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17
18#ifndef GZ_PHYSICS_SDF_CONSTRUCTMODEL_HH_
19#define GZ_PHYSICS_SDF_CONSTRUCTMODEL_HH_
20
21#include <sdf/Model.hh>
22
24
25namespace gz {
26namespace physics {
27namespace sdf {
28
31class 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
50template <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