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18 #ifndef _GAZEBO_PHYSICS_PRESETMANAGER_HH_
19 #define _GAZEBO_PHYSICS_PRESETMANAGER_HH_
21 #include <boost/any.hpp>
44 public:
Preset(
const std::string & _name);
51 public: std::string Name()
const;
57 public:
bool GetParam(
const std::string &_key, boost::any &_value)
const;
62 public:
bool SetParam(
const std::string &_key,
const boost::any &_value);
67 public:
bool HasParam(
const std::string &_key)
const;
80 public:
bool SetAllParamsFromSDF(
const sdf::ElementPtr _elem);
86 private:
bool SetAllParamsHelper(
const sdf::ElementPtr _elem);
90 public: sdf::ElementPtr SDF()
const;
95 public:
bool SDF(
const sdf::ElementPtr _sdfElement);
98 private: PresetPrivate *dataPtr;
101 class PresetManagerPrivate;
111 const sdf::ElementPtr _sdf);
119 public:
bool CurrentProfile(
const std::string &_name);
123 public: std::string CurrentProfile()
const;
127 public: std::vector<std::string> AllProfiles()
const;
134 public:
bool SetProfileParam(
const std::string &_profileName,
135 const std::string &_key,
const boost::any &_value);
142 public:
bool GetProfileParam(
const std::string &_name,
143 const std::string &_key, boost::any &_value)
const;
149 public:
bool SetCurrentProfileParam(
const std::string &_key,
150 const boost::any &_value);
156 public:
bool GetCurrentProfileParam(
const std::string &_key,
163 public:
bool CreateProfile(
const std::string &_name);
170 public: std::string CreateProfile(
const sdf::ElementPtr _sdf);
174 public:
void RemoveProfile(
const std::string &_name);
179 public:
bool HasProfile(
const std::string &_name)
const;
185 public: sdf::ElementPtr ProfileSDF(
const std::string &_name)
const;
191 public:
bool ProfileSDF(
const std::string &_name,
192 const sdf::ElementPtr _sdf);
197 public:
void GenerateSDFFromPreset(
const std::string &_name,
198 sdf::ElementPtr &_elem)
const;
203 private:
void GenerateSDFHelper(
const Preset &_preset,
204 sdf::ElementPtr &_elem)
const;
209 private:
void GeneratePresetFromSDF(
const sdf::ElementPtr _elem,
214 private:
Preset *CurrentPreset()
const;
217 private: PresetManagerPrivate *dataPtr;
bool HasParam(const std::string &_key) const
Check if profile parameter is set.
Forward declarations for the common classes.
Definition: Animation.hh:26
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:105
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.
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition: PhysicsTypes.hh:125
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.