/usr/include/gazebo-9/gazebo/Server.hh is in libgazebo9-dev 9.0.0+dfsg5-3ubuntu1.
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* Copyright (C) 2012 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 _SERVER_HH_
#define _SERVER_HH_
#include <string>
#include <list>
#include <sdf/sdf.hh>
#include "gazebo/msgs/msgs.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/common/CommonTypes.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
class Master;
// forward declaration of private class
struct ServerPrivate;
/// \class Master Master.hh gazebo_core.hh
/// \brief Base class for simulation server that handles commandline options,
/// starts a Master, runs World update and sensor generation loops.
class GAZEBO_VISIBLE Server
{
/// \brief Constructor.
public: Server();
/// \brief Destructor.
public: virtual ~Server();
/// \brief Output help about gzserver.
public: void PrintUsage();
/// \brief Parse command line arguments.
/// \param[in] _argc Number of arguments.
/// \param[in] _argv Array of argument values.
/// \return True on success.
public: bool ParseArgs(int _argc, char **_argv);
/// \brief Preload the server.
/// \return True if load was successful.
public: bool PreLoad();
/// \brief Load a world file and optionally override physics engine type.
/// \param[in] _filename Name of the world file to load.
/// \param[in] _physics Physics engine type (ode|bullet|dart|simbody).
/// \return True on success.
public: bool LoadFile(const std::string &_filename="worlds/empty.world",
const std::string &_physics="");
/// \brief Load the Server from an SDF string.
/// \param[in] _sdfString SDF string from which to load a World.
/// \return True on success.
public: bool LoadString(const std::string &_sdfString);
/// \brief Run the Server.
public: void Run();
/// \brief Stop the Server.
public: void Stop();
/// \brief Finalize the Server.
public: void Fini();
/// \brief Set the parameters.
/// \param[in] _params Map of string parameters
public: void SetParams(const common::StrStr_M &_params);
/// \brief Get whether the Server has been initialized.
/// \return True if initialized.
public: bool GetInitialized() const;
/// \brief Load implementation.
/// \param[in] _elem Description of the world to load.
/// \param[in] _physics Physics engine type (ode|bullet|dart|simbody).
private: bool LoadImpl(sdf::ElementPtr _elem,
const std::string &_physics="");
/// \brief SIGINT handler
/// \param[in] _v Unused.
private: static void SigInt(int _v);
/// \brief Process all command line parameters.
private: void ProcessParams();
/// \brief Receive a control message, and push it onto a queue.
/// \param[in] _msg Message that is received.
private: void OnControl(ConstServerControlPtr &_msg);
/// \brief Open a new world.
/// \param[in] _filename Name and path of the world to open.
/// \return True on success.
private: bool OpenWorld(const std::string &_filename);
/// \brief Handle all control messages.
private: void ProcessControlMsgs();
/// \internal
/// \brief Pointer to private data.
private: std::unique_ptr<ServerPrivate> dataPtr;
};
}
#endif
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