gz/sim/World.hh

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/*
 * Copyright (C) 2020 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_WORLD_HH_
#define GZ_GAZEBO_WORLD_HH_
 
#include <memory>
#include <optional>
#include <string>
#include <vector>
 
#include <sdf/Atmosphere.hh>
#include <gz/math/Vector3.hh>
#include <gz/math/SphericalCoordinates.hh>
 
#include "gz/sim/config.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 {
    // Forward declarations.
    class IGNITION_GAZEBO_HIDDEN WorldPrivate;
    //
    class IGNITION_GAZEBO_VISIBLE World {
      public: explicit World(gz::sim::Entity _entity = kNullEntity);
 
      public: World(const World &_world);
 
      public: World(World &&_world) noexcept;
 
      public: World &operator=(World &&_world) noexcept;
 
      public: World &operator=(const World &_world);
 
      public: virtual ~World();
 
      public: gz::sim::Entity Entity() const;
 
      public: bool Valid(const EntityComponentManager &_ecm) const;
 
      public: std::optional<std::string> Name(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<math::Vector3d> Gravity(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<math::Vector3d> MagneticField(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<sdf::Atmosphere> Atmosphere(
          const EntityComponentManager &_ecm) const;
 
      public: std::optional<math::SphericalCoordinates> SphericalCoordinates(
          const EntityComponentManager &_ecm) const;
 
      public: void SetSphericalCoordinates(EntityComponentManager &_ecm,
          const math::SphericalCoordinates &_sphericalCoordinates);
 
      public: gz::sim::Entity LightByName(const EntityComponentManager &_ecm,
          const std::string &_name) const;
 
      public: gz::sim::Entity ActorByName(const EntityComponentManager &_ecm,
          const std::string &_name) const;
 
      public: gz::sim::Entity ModelByName(const EntityComponentManager &_ecm,
          const std::string &_name) const;
 
      public: std::vector<gz::sim::Entity> Lights(
          const EntityComponentManager &_ecm) const;
 
      public: std::vector<gz::sim::Entity> Actors(
          const EntityComponentManager &_ecm) const;
 
      public: std::vector<gz::sim::Entity> Models(
          const EntityComponentManager &_ecm) const;
 
      public: uint64_t LightCount(const EntityComponentManager &_ecm) const;
 
      public: uint64_t ActorCount(const EntityComponentManager &_ecm) const;
 
      public: uint64_t ModelCount(const EntityComponentManager &_ecm) const;
 
      private: std::unique_ptr<WorldPrivate> dataPtr;
    };
    }
  }
}
#endif