gz/sim/SdfEntityCreator.hh

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/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef GZ_GAZEBO_CREATEREMOVE_HH_
#define GZ_GAZEBO_CREATEREMOVE_HH_
 
#include <memory>
 
#include <sdf/Actor.hh>
#include <sdf/Collision.hh>
#include <sdf/Gui.hh>
#include <sdf/Joint.hh>
#include <sdf/Light.hh>
#include <sdf/Link.hh>
#include <sdf/Model.hh>
#include <sdf/Physics.hh>
#include <sdf/Sensor.hh>
#include <sdf/Visual.hh>
#include <sdf/World.hh>
 
#include <gz/sim/Entity.hh>
#include <gz/sim/EntityComponentManager.hh>
#include <gz/sim/EventManager.hh>
#include <gz/sim/Types.hh>
 
namespace ignition
{
  namespace gazebo
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
    // Forward declarations.
    class SdfEntityCreatorPrivate;
    //
    class IGNITION_GAZEBO_VISIBLE SdfEntityCreator
    {
      public: explicit SdfEntityCreator(EntityComponentManager &_ecm,
          EventManager &_eventManager);
 
      public: SdfEntityCreator(const SdfEntityCreator &_creator);
 
      public: SdfEntityCreator(SdfEntityCreator &&_creator) noexcept;
 
      public: SdfEntityCreator &operator=(SdfEntityCreator &&_creator) noexcept;
 
      public: SdfEntityCreator &operator=(const SdfEntityCreator &_creator);
 
      public: ~SdfEntityCreator();
 
      public: Entity CreateEntities(const sdf::World *_world);
 
      public: Entity CreateEntities(const sdf::Model *_model);
 
      public: Entity CreateEntities(const sdf::Actor *_actor);
 
      public: Entity CreateEntities(const sdf::Light *_light);
 
      public: Entity CreateEntities(const sdf::Link *_link);
 
      public: Entity CreateEntities(const sdf::Joint *_joint);
 
      public: Entity CreateEntities(const sdf::Visual *_visual);
 
      public: Entity CreateEntities(const sdf::Collision *_collision);
 
      public: Entity CreateEntities(const sdf::Sensor *_sensor);
 
      public: void RequestRemoveEntity(const Entity _entity,
          bool _recursive = true);
 
      public: void SetParent(Entity _child, Entity _parent);
 
      private: Entity CreateEntities(const sdf::Model *_model,
          bool _createCanonicalLink, bool _staticParent);
 
      private: std::unique_ptr<SdfEntityCreatorPrivate> dataPtr;
    };
    }
  }
}
#endif