Gazebo Physics
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8.0.0
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src
gz-physics
sdf
include
gz
physics
sdf
ConstructModel.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_SDF_CONSTRUCTMODEL_HH_
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#define GZ_PHYSICS_SDF_CONSTRUCTMODEL_HH_
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#include <sdf/Model.hh>
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#include <
gz/physics/FeatureList.hh
>
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namespace
gz
{
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namespace
physics {
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namespace
sdf {
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class
ConstructSdfModel
:
public
virtual
Feature
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{
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public
:
template
<
typename
PolicyT,
typename
FeaturesT>
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class
World
:
public
virtual
Feature::World
<PolicyT, FeaturesT>
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{
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public
:
using
ModelPtrType
= ModelPtr<PolicyT, FeaturesT>;
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public
:
ModelPtrType
ConstructModel
(const ::sdf::Model &_model);
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};
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public
:
template
<
typename
PolicyT>
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class
Implementation
:
public
virtual
Feature::Implementation
<PolicyT>
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{
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public
:
virtual
Identity
ConstructSdfModel
(
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const
Identity &_world, const ::sdf::Model &_model) = 0;
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};
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};
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template
<
typename
PolicyT,
typename
FeaturesT>
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auto
ConstructSdfModel::World<PolicyT, FeaturesT>::ConstructModel
(
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const ::sdf::Model &_model) ->
ModelPtrType
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{
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return
ModelPtrType
(this->pimpl,
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this->
template
Interface<ConstructSdfModel>()
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->
ConstructSdfModel
(this->identity, _model));
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}
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}
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}
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}
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#endif