PhysicsTypes.hh

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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 GAZEBO_PHYSICS_PHYSICSTYPES_HH_
#define GAZEBO_PHYSICS_PHYSICSTYPES_HH_
 
#include <map>
#include <memory>
#include <string>
#include <vector>
#include <boost/shared_ptr.hpp>
 
#include "gazebo/msgs/poses_stamped.pb.h"
#include "gazebo/util/system.hh"
 
namespace gazebo
{
  namespace physics
  {
    class Base;
    class Entity;
    class World;
    class Model;
    class Actor;
    class Light;
    class Link;
    class Collision;
    class FrictionPyramid;
    class Gripper;
    class Joint;
    class JointController;
    class Contact;
    class PresetManager;
    class UserCmd;
    class UserCmdManager;
    class PhysicsEngine;
    class Wind;
    class Atmosphere;
    class Mass;
    class Road;
    class Shape;
    class RayShape;
    class MultiRayShape;
    class Inertial;
    class SurfaceParams;
    class BoxShape;
    class CylinderShape;
    class MeshShape;
    class SphereShape;
    class PlaneShape;
    class HeightmapShape;
    class PolylineShape;
    class ModelState;
    class LightState;
    class LinkState;
    class JointState;
    class TrajectoryInfo;
 
    typedef boost::shared_ptr<Base> BasePtr;
 
    typedef boost::shared_ptr<Contact> ContactPtr;
 
    typedef boost::shared_ptr<Entity> EntityPtr;
 
    typedef boost::shared_ptr<World> WorldPtr;
 
    typedef boost::shared_ptr<Model> ModelPtr;
 
    typedef boost::shared_ptr<Actor> ActorPtr;
 
    typedef std::shared_ptr<TrajectoryInfo> TrajectoryInfoPtr;
 
    typedef boost::shared_ptr<Light> LightPtr;
 
    typedef boost::shared_ptr<Link> LinkPtr;
 
    typedef boost::shared_ptr<Collision> CollisionPtr;
 
    typedef boost::shared_ptr<Joint> JointPtr;
 
    typedef boost::shared_ptr<JointController> JointControllerPtr;
 
    typedef boost::shared_ptr<PhysicsEngine> PhysicsEnginePtr;
 
    typedef boost::shared_ptr<PresetManager> PresetManagerPtr;
 
    typedef std::shared_ptr<UserCmd> UserCmdPtr;
 
    typedef std::shared_ptr<UserCmdManager> UserCmdManagerPtr;
 
    typedef boost::shared_ptr<Shape> ShapePtr;
 
    typedef boost::shared_ptr<RayShape> RayShapePtr;
 
    typedef boost::shared_ptr<HeightmapShape> HeightmapShapePtr;
 
    typedef boost::shared_ptr<MultiRayShape> MultiRayShapePtr;
 
    typedef boost::shared_ptr<Inertial> InertialPtr;
 
    typedef boost::shared_ptr<Road> RoadPtr;
 
    typedef boost::shared_ptr<FrictionPyramid> FrictionPyramidPtr;
 
    typedef boost::shared_ptr<SurfaceParams> SurfaceParamsPtr;
 
    typedef boost::shared_ptr<BoxShape> BoxShapePtr;
 
    typedef boost::shared_ptr<CylinderShape> CylinderShapePtr;
 
    typedef boost::shared_ptr<PlaneShape> PlaneShapePtr;
 
    typedef boost::shared_ptr<MeshShape> MeshShapePtr;
 
    typedef boost::shared_ptr<PolylineShape> PolylineShapePtr;
 
    typedef boost::shared_ptr<SphereShape> SphereShapePtr;
 
    typedef boost::shared_ptr<Gripper> GripperPtr;
 
    typedef std::vector<BasePtr> Base_V;
 
    typedef std::vector<ModelPtr> Model_V;
 
    typedef std::vector<ActorPtr> Actor_V;
 
    typedef std::vector<JointPtr> Joint_V;
 
    typedef std::vector<JointControllerPtr> JointController_V;
 
    typedef std::vector<LightPtr>  Light_V;
 
    typedef std::vector<LinkPtr>  Link_V;
 
    typedef std::vector<CollisionPtr>  Collision_V;
 
    typedef std::map<std::string, ModelState> ModelState_M;
 
    typedef std::map<std::string, LightState> LightState_M;
 
    typedef std::map<std::string, LinkState> LinkState_M;
 
    typedef std::map<std::string, JointState> JointState_M;
 
    using UpdateScenePosesFunc =
        std::function<void(const std::string &, const msgs::PosesStamped &)>;
 
    #ifndef GZ_COLLIDE_BITS
 
    #define GZ_ALL_COLLIDE 0x0FFFFFFF
 
    #define GZ_NONE_COLLIDE 0x00000000
 
    #define GZ_FIXED_COLLIDE 0x00000001
 
    #define GZ_SENSOR_COLLIDE 0x00000002
 
    #define GZ_GHOST_COLLIDE 0x10000000
 
    #endif
  }
}
#endif