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/*
* Copyright 2017 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 SDF_WORLD_HH_
#define SDF_WORLD_HH_
#include <string>
#include "sdf/Element.hh"
#include "sdf/Types.hh"
#include "sdf/system_util.hh"
namespace sdf
{
// Forward declare private data class.
class WorldPrivate;
class SDFORMAT_VISIBLE World
{
/// \brief Default constructor
public: World();
/// \brief Move constructor
/// \param[in] _world World to move.
public: World(World &&_world);
/// \brief Destructor
public: ~World();
/// \brief Load the world based on a element pointer. This is *not* the
/// usual entry point. Typical usage of the SDF DOM is through the Root
/// object.
/// \param[in] _sdf The SDF Element pointer
/// \return Errors, which is a vector of Error objects. Each Error includes
/// an error code and message. An empty vector indicates no error.
public: Errors Load(ElementPtr _sdf);
/// \brief Get the name of the world.
/// \return Name of the world.
public: std::string Name() const;
/// \brief Set the name of the world.
/// \param[in] _name Name of the world.
public: void SetName(const std::string &_name) const;
/// \brief Get the audio device name. The audio device can be used to
/// playback audio files. A value of "default" or an empty string
/// indicates that the system's default audio device should be used.
/// \return Audio device name.
public: std::string AudioDevice() const;
/// \brief Set the audio device name. See std::string AudioDevice() const
/// for more information.
/// \param[in] _device The new audio device name.
/// \sa std::string AudioDevice() const
public: void SetAudioDevice(const std::string &_device);
/// \brief Get the wind linear velocity in the global/world coordinate
/// frame. Units are meters per second \f$(\frac{m}{s})\f$
/// \return Linear velocity of wind in the global/world coordinate frame.
/// \sa void SetWindLinearVelocity(const ignition::math::Vector3d &_wind)
public: ignition::math::Vector3d WindLinearVelocity() const;
/// \brief Set the wind linear velocity in the global/world coordinate
/// frame. Units are meters per second \f$(\frac{m}{s})\f$
/// \param[in] _win The new linear velocity of wind.
/// \sa ignition::math::Vector3d WindLinearVelocity() const
public: void SetWindLinearVelocity(const ignition::math::Vector3d &_wind);
/// \brief Get the acceleration due to gravity. The default value is
/// Earth's standard gravity at sea level, which equals
/// [0, 0, -9.80665] \f$(\frac{m}{s^2})\f$
/// \return Gravity vector in meters per second squared
/// \f$(\frac{m}{s^2})\f$
public: ignition::math::Vector3d Gravity() const;
/// \brief Set the acceleration due to gravity. Units are meters per
/// second squared \f$(\frac{m}{s^2})\f$
/// \param[in] _gravity The new gravity vector.
public: void SetGravity(const ignition::math::Vector3d &_gravity);
/// \brief Get the magnetic vector in Tesla, expressed in
/// a coordinate frame defined by the SphericalCoordinates property.
/// A spherical coordindate can be specified in SDF using the
/// <spherical_coordinates> element.
/// \return Magnetic field vector.
/// \sa SphericalCoordinates
public: ignition::math::Vector3d MagneticField() const;
/// \brief Set the magnetic vector in Tesla, expressed in
/// a coordinate frame defined by the SphericalCoordinate.
/// A spherical coordindate can be specified in SDF using the
/// <spherical_coordinates> element.
/// \param[in] _mag The new magnetic field vector.
/// \sa SphericalCoordinates
public: void SetMagneticField(const ignition::math::Vector3d &_mag);
/// \brief Private data pointer.
private: WorldPrivate *dataPtr = nullptr;
};
}
#endif
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