gz/sim/Util.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_UTIL_HH_
#define GZ_GAZEBO_UTIL_HH_
 
#include <gz/msgs/entity.pb.h>
 
#include <string>
#include <unordered_set>
#include <vector>
 
#include <gz/math/Pose3.hh>
#include "gz/sim/config.hh"
#include "gz/sim/Entity.hh"
#include "gz/sim/EntityComponentManager.hh"
#include "gz/sim/Export.hh"
#include "gz/sim/Types.hh"
 
namespace ignition
{
  namespace gazebo
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
    //
    math::Pose3d IGNITION_GAZEBO_VISIBLE worldPose(const Entity &_entity,
        const EntityComponentManager &_ecm);
 
    std::string IGNITION_GAZEBO_VISIBLE scopedName(const Entity &_entity,
      const EntityComponentManager &_ecm, const std::string &_delim = "/",
      bool _includePrefix = true);
 
    std::unordered_set<Entity> IGNITION_GAZEBO_VISIBLE entitiesFromScopedName(
      const std::string &_scopedName, const EntityComponentManager &_ecm,
      Entity _relativeTo = kNullEntity,
      const std::string &_delim = "::");
 
    ComponentTypeId IGNITION_GAZEBO_VISIBLE entityTypeId(const Entity &_entity,
        const EntityComponentManager &_ecm);
 
    std::string IGNITION_GAZEBO_VISIBLE entityTypeStr(const Entity &_entity,
        const EntityComponentManager &_ecm);
 
    Entity IGNITION_GAZEBO_VISIBLE worldEntity(const Entity &_entity,
        const EntityComponentManager &_ecm);
 
    Entity IGNITION_GAZEBO_VISIBLE worldEntity(
        const EntityComponentManager &_ecm);
 
    std::string IGNITION_GAZEBO_VISIBLE removeParentScope(
        const std::string &_name, const std::string &_delim);
 
    std::string IGNITION_GAZEBO_VISIBLE asFullPath(const std::string &_uri,
        const std::string &_filePath);
 
    std::vector<std::string> IGNITION_GAZEBO_VISIBLE resourcePaths();
 
    void IGNITION_GAZEBO_VISIBLE addResourcePaths(
        const std::vector<std::string> &_paths = {});
 
    gz::sim::Entity IGNITION_GAZEBO_VISIBLE topLevelModel(
        const Entity &_entity, const EntityComponentManager &_ecm);
 
    std::string IGNITION_GAZEBO_VISIBLE validTopic(
        const std::vector<std::string> &_topics);
 
    std::string IGNITION_GAZEBO_VISIBLE topicFromScopedName(
        const Entity &_entity,
        const EntityComponentManager &_ecm,
        bool _excludeWorld = true);
 
    std::string IGNITION_GAZEBO_VISIBLE resolveSdfWorldFile(
        const std::string &_sdfFilename,
        const std::string &_fuelResourceCache = "");
 
    template <class ComponentType>
    bool enableComponent(EntityComponentManager &_ecm,
        Entity _entity, bool _enable = true)
    {
      bool changed{false};
 
      auto exists = _ecm.Component<ComponentType>(_entity);
      if (_enable && !exists)
      {
        _ecm.CreateComponent(_entity, ComponentType());
        changed = true;
      }
      else if (!_enable && exists)
      {
        _ecm.RemoveComponent<ComponentType>(_entity);
        changed = true;
      }
      return changed;
    }
 
    Entity IGNITION_GAZEBO_VISIBLE entityFromMsg(
      const EntityComponentManager &_ecm, const msgs::Entity &_msg);
 
    std::optional<math::Vector3d> IGNITION_GAZEBO_VISIBLE sphericalCoordinates(
        Entity _entity, const EntityComponentManager &_ecm);
 
    const std::string kResourcePathEnv{"IGN_GAZEBO_RESOURCE_PATH"};
    const std::string kResourcePathEnvGzSim{"GZ_SIM_RESOURCE_PATH"};
 
    const std::string kSdfPathEnv{"SDF_PATH"};
 
    const std::string kServerConfigPathEnv{"IGN_GAZEBO_SERVER_CONFIG_PATH"};
    const std::string kServerConfigPathEnvGzSim{"GZ_SIM_SERVER_CONFIG_PATH"};
 
    const std::string kRenderPluginPathEnv{"IGN_GAZEBO_RENDER_ENGINE_PATH"};
    const std::string kRenderPluginPathEnvGzSim{"GZ_SIM_RENDER_ENGINE_PATH"};
 
    }
  }
}
#endif