Gazebo Rendering

API Reference

7.4.2
gz/rendering/RenderEngine.hh
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1 /*
2  * Copyright (C) 2015 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 #ifndef GZ_RENDERING_RENDERENGINE_HH_
18 #define GZ_RENDERING_RENDERENGINE_HH_
19 
20 #include <map>
21 #include <string>
22 #include "gz/rendering/config.hh"
25 #include "gz/rendering/Export.hh"
26 
27 namespace gz
28 {
29  namespace rendering
30  {
31  inline namespace GZ_RENDERING_VERSION_NAMESPACE {
32  //
37  class GZ_RENDERING_VISIBLE RenderEngine
38  {
40  public: virtual ~RenderEngine();
41 
47  public: virtual bool Load(
48  const std::map<std::string, std::string> &_params = {}) = 0;
49 
53  public: virtual bool Init() = 0;
54 
59  public: virtual void Destroy() = 0;
60 
61  // TODO(anyone): merge with Destroy
62  public: virtual bool Fini() = 0;
63 
66  public: virtual bool IsLoaded() const = 0;
67 
70  public: virtual bool IsInitialized() const = 0;
71 
76  public: virtual bool IsEnabled() const = 0;
77 
80  public: virtual std::string Name() const = 0;
81 
85  public: virtual unsigned int SceneCount() const = 0;
86 
91  public: virtual bool HasScene(ConstScenePtr _scene) const = 0;
92 
97  public: virtual bool HasSceneId(unsigned int _id) const = 0;
98 
103  public: virtual bool HasSceneName(const std::string &_name) const = 0;
104 
109  public: virtual ScenePtr SceneById(unsigned int _id) const = 0;
110 
115  public: virtual ScenePtr SceneByName(
116  const std::string &_name) const = 0;
117 
124  public: virtual ScenePtr SceneByIndex(unsigned int _index) const = 0;
125 
129  public: virtual void DestroyScene(ScenePtr _scene) = 0;
130 
134  public: virtual void DestroySceneById(unsigned int _id) = 0;
135 
139  public: virtual void DestroySceneByName(const std::string &_name) = 0;
140 
144  public: virtual void DestroySceneByIndex(unsigned int _index) = 0;
145 
147  public: virtual void DestroyScenes() = 0;
148 
155  public: virtual ScenePtr CreateScene(const std::string &_name) = 0;
156 
164  public: virtual ScenePtr CreateScene(unsigned int _id,
165  const std::string &_name) = 0;
166 
169  public: virtual rendering::GraphicsAPI GraphicsAPI() const = 0;
170 
174  public: virtual void SetHeadless(bool _headless) = 0;
175 
178  public: virtual bool Headless() const = 0;
179 
182  public: virtual void AddResourcePath(const std::string &_path) = 0;
183 
185  public: virtual RenderPassSystemPtr RenderPassSystem() const = 0;
186  };
187  }
188  }
189 }
190 #endif