PresetManager.hh
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17 
18 #ifndef _GAZEBO_PHYSICS_PRESETMANAGER_HH_
19 #define _GAZEBO_PHYSICS_PRESETMANAGER_HH_
20 
21 #include <boost/any.hpp>
22 #include <string>
23 #include <vector>
24 #include <sdf/sdf.hh>
25 
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
32  class PresetPrivate;
33 
36  class GZ_PHYSICS_VISIBLE Preset
37  {
39  public: Preset();
40 
43  // cppcheck-suppress noExplicitConstructor
44  public: Preset(const std::string & _name);
45 
47  public: ~Preset();
48 
51  public: std::string Name() const;
52 
59  public: bool GetParam(const std::string &_key, boost::any &_value) const;
60 
64  public: bool SetParam(const std::string &_key, const boost::any &_value);
65 
69  public: bool HasParam(const std::string &_key) const;
70 
75  public: bool SetAllPhysicsParameters(PhysicsEnginePtr _physicsEngine)
76  const;
77 
82  public: bool SetAllParamsFromSDF(const sdf::ElementPtr _elem);
83 
88  private: bool SetAllParamsHelper(const sdf::ElementPtr _elem);
89 
92  public: sdf::ElementPtr SDF() const;
93 
97  public: bool SDF(const sdf::ElementPtr _sdfElement);
98 
100  private: PresetPrivate *dataPtr;
101  };
102 
103  class PresetManagerPrivate;
104 
107  class GZ_PHYSICS_VISIBLE PresetManager
108  {
112  public: PresetManager(PhysicsEnginePtr _physicsEngine,
113  const sdf::ElementPtr _sdf);
114 
116  public: ~PresetManager();
117 
121  public: bool CurrentProfile(const std::string &_name);
122 
125  public: std::string CurrentProfile() const;
126 
129  public: std::vector<std::string> AllProfiles() const;
130 
136  public: bool SetProfileParam(const std::string &_profileName,
137  const std::string &_key, const boost::any &_value);
138 
147  public: bool GetProfileParam(const std::string &_name,
148  const std::string &_key, boost::any &_value) const;
149 
154  public: bool SetCurrentProfileParam(const std::string &_key,
155  const boost::any &_value);
156 
164  public: bool GetCurrentProfileParam(const std::string &_key,
165  boost::any &_value);
166 
171  public: bool CreateProfile(const std::string &_name);
172 
178  public: std::string CreateProfile(const sdf::ElementPtr _sdf);
179 
182  public: void RemoveProfile(const std::string &_name);
183 
187  public: bool HasProfile(const std::string &_name) const;
188 
193  public: sdf::ElementPtr ProfileSDF(const std::string &_name) const;
194 
199  public: bool ProfileSDF(const std::string &_name,
200  const sdf::ElementPtr _sdf);
201 
205  public: void GenerateSDFFromPreset(const std::string &_name,
206  sdf::ElementPtr &_elem) const;
207 
211  private: void GenerateSDFHelper(const Preset &_preset,
212  sdf::ElementPtr &_elem) const;
213 
217  private: void GeneratePresetFromSDF(const sdf::ElementPtr _elem,
218  Preset &_preset) const;
219 
222  private: Preset *CurrentPreset() const;
223 
225  private: PresetManagerPrivate *dataPtr;
226  };
227  }
228 }
229 
230 #endif
bool HasParam(const std::string &_key) const
Check if profile parameter is set.
Forward declarations for the common classes.
Definition: Animation.hh:26
~Preset()
Destructor.
default namespace for gazebo
PresetManager(PhysicsEnginePtr _physicsEngine, const sdf::ElementPtr _sdf)
Constructor.
bool SetAllParamsFromSDF(const sdf::ElementPtr _elem)
Set all parameters of this preset based on the key/value pairs in the given SDF element.
bool CreateProfile(const std::string &_name)
Create a new profile.
~PresetManager()
Destructor.
bool SetProfileParam(const std::string &_profileName, const std::string &_key, const boost::any &_value)
Set a parameter for a certain profile.
sdf::ElementPtr SDF() const
Get this preset profile's SDF.
std::vector< std::string > AllProfiles() const
Get the name of all profiles.
bool GetParam(const std::string &_key, boost::any &_value) const
Get a profile parameter.
bool SetAllPhysicsParameters(PhysicsEnginePtr _physicsEngine) const
Set all parameters of this preset in the physics engine.
bool HasProfile(const std::string &_name) const
Determine if we have a profile.
bool SetCurrentProfileParam(const std::string &_key, const boost::any &_value)
Set a parameter for the current profile.
Class to manage preset physics profiles.
Definition: PresetManager.hh:107
Representation of a preset physics profile.
Definition: PresetManager.hh:36
bool GetCurrentProfileParam(const std::string &_key, boost::any &_value)
Get a parameter for the current profile.
sdf::ElementPtr ProfileSDF(const std::string &_name) const
Get the SDF for a profile.
Preset()
Constructor.
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition: PhysicsTypes.hh:126
void GenerateSDFFromPreset(const std::string &_name, sdf::ElementPtr &_elem) const
Generate an SDF element from an Preset object.
void RemoveProfile(const std::string &_name)
Remove a profile.
bool SetParam(const std::string &_key, const boost::any &_value)
Set a profile parameter.
bool GetProfileParam(const std::string &_name, const std::string &_key, boost::any &_value) const
Get a parameter for a certain profile.
std::string Name() const
Get the profile name.
std::string CurrentProfile() const
Get the name of the current profile.