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World.hh
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World.hh
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/*
* Copyright (C) 2018 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 IGNITION_PHYSICS_DARTSIM_WORLD_HH_
#define IGNITION_PHYSICS_DARTSIM_WORLD_HH_
#include <dart/simulation/World.hpp>
#include <ignition/physics/FeatureList.hh>
namespace ignition {
namespace physics {
namespace dartsim {
/////////////////////////////////////////////////
class RetrieveWorld : public virtual Feature
{
public: template <typename PolicyT, typename FeaturesT>
class World : public virtual Feature::World<PolicyT, FeaturesT>
{
/// \brief Get the underlying dartsim world for this World object.
public: dart::simulation::WorldPtr GetDartsimWorld();
};
public: template <typename PolicyT>
class Implementation : public virtual Feature::Implementation<PolicyT>
{
public: virtual dart::simulation::WorldPtr GetDartsimWorld(
const Identity &_worldID) = 0;
};
};
/////////////////////////////////////////////////
template <typename PolicyT, typename FeaturesT>
dart::simulation::WorldPtr RetrieveWorld::World<PolicyT, FeaturesT>
::GetDartsimWorld()
{
return this->template Interface<RetrieveWorld>()
->GetDartsimWorld(this->identity);
}
}
}
}
#endif