Physics.hh
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1 /*
2  * Copyright 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
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8  * http://www.apache.org/licenses/LICENSE-2.0
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10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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15  *
16  */
17 #ifndef SDF_PHYSICS_HH_
18 #define SDF_PHYSICS_HH_
19 
20 #include <string>
21 #include <gz/utils/ImplPtr.hh>
22 
23 #include "sdf/Element.hh"
24 #include "sdf/Types.hh"
25 #include "sdf/sdf_config.h"
26 #include "sdf/system_util.hh"
27 
28 namespace sdf
29 {
30  // Inline bracket to help doxygen filtering.
31  inline namespace SDF_VERSION_NAMESPACE {
32  //
33 
37  {
39  public: Physics();
40 
47  public: Errors Load(ElementPtr _sdf);
48 
51  public: std::string Name() const;
52 
55  public: void SetName(const std::string &_name);
56 
61  public: sdf::ElementPtr Element() const;
62 
69  public: bool IsDefault() const;
70 
73  public: void SetDefault(const bool _default);
74 
79  public: std::string EngineType() const;
80 
83  public: void SetEngineType(const std::string &_type);
84 
89  public: double MaxStepSize() const;
90 
93  public: void SetMaxStepSize(const double _step);
94 
99  public: double RealTimeFactor() const;
100 
103  public: void SetRealTimeFactor(const double _factor);
104 
109  public: int MaxContacts() const;
110 
115  public: void SetMaxContacts(int _maxContacts);
116 
122  public: sdf::ElementPtr ToElement() const;
123 
130  public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
131 
133  GZ_UTILS_IMPL_PTR(dataPtr)
134  };
135  }
136 }
137 #endif
sdf
namespace for Simulation Description Format parser
Definition: Actor.hh:34
sdf::SDF_VERSION_NAMESPACE::Physics
The physics element specifies the type and properties of a dynamics engine.
Definition: Physics.hh:36
Types.hh
sdf_config.h
SDFORMAT_VISIBLE
#define SDFORMAT_VISIBLE
Definition: system_util.hh:25
sdf::SDF_VERSION_NAMESPACE::Element
class GZ_SDFORMAT_VISIBLE Element
Definition: Element.hh:51
sdf::SDF_VERSION_NAMESPACE::Errors
std::vector< Error > Errors
A vector of Error.
Definition: Types.hh:80
system_util.hh
sdf::SDF_VERSION_NAMESPACE::ElementPtr
std::shared_ptr< Element > ElementPtr
Definition: Element.hh:55
Element.hh