RenderingIface.hh
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1 /*
2  * Copyright (C) 2012 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
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
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13  * See the License for the specific language governing permissions and
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16 */
17 #ifndef _RENDERINGIFACE_HH_
18 #define _RENDERINGIFACE_HH_
19 
20 #include <string>
21 #include "gazebo/msgs/poses_stamped.pb.h"
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
27  namespace rendering
28  {
31 
33  GZ_RENDERING_VISIBLE
34  bool load();
35 
37  GZ_RENDERING_VISIBLE
38  bool init();
39 
41  GZ_RENDERING_VISIBLE
42  bool fini();
43 
46  GZ_RENDERING_VISIBLE
47  rendering::ScenePtr get_scene(const std::string &_name = "");
48 
54  GZ_RENDERING_VISIBLE
55  void update_scene_poses(const std::string &_name,
56  const msgs::PosesStamped &_msg);
57 
63  GZ_RENDERING_VISIBLE
64  void set_lockstep_enabled(bool _enable);
65 
71  GZ_RENDERING_VISIBLE
73 
79  GZ_RENDERING_VISIBLE
80  bool wait_for_render_request(const std::string &_name,
81  const double _timeoutsec);
82 
87  GZ_RENDERING_VISIBLE
88  rendering::ScenePtr create_scene(const std::string &_name,
89  bool _enableVisualizations,
90  bool _isServer = false);
91 
94  GZ_RENDERING_VISIBLE
95  void remove_scene(const std::string &_name);
96 
98  }
99 }
100 #endif
bool lockstep_enabled()
Get whether or not lockstepping is enabled for rendering and physics.
Forward declarations for the common classes.
Definition: Animation.hh:27
void remove_scene(const std::string &_name)
remove a rendering::Scene by name
bool wait_for_render_request(const std::string &_name, const double _timeoutsec)
wait until a render request occurs
boost::shared_ptr< Scene > ScenePtr
Definition: RenderTypes.hh:82
rendering
Definition: RenderEngine.hh:31
rendering::ScenePtr get_scene(const std::string &_name="")
get pointer to rendering::Scene by name.
bool fini()
teardown rendering engine.
bool init()
init rendering engine.
void update_scene_poses(const std::string &_name, const msgs::PosesStamped &_msg)
Update Poses via direct API call instead of transport.
rendering::ScenePtr create_scene(const std::string &_name, bool _enableVisualizations, bool _isServer=false)
create rendering::Scene by name.
bool load()
load rendering engine.
void set_lockstep_enabled(bool _enable)
Set whether to enable lockstepping for rendering and physics.