RenderingIface.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 _RENDERINGIFACE_HH_
#define _RENDERINGIFACE_HH_
 
#include <string>
#include "gazebo/msgs/poses_stamped.pb.h"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/util/system.hh"
 
namespace gazebo
{
  namespace rendering
  {
 
    GZ_RENDERING_VISIBLE
    bool load();
 
    GZ_RENDERING_VISIBLE
    bool init();
 
    GZ_RENDERING_VISIBLE
    bool fini();
 
    GZ_RENDERING_VISIBLE
    rendering::ScenePtr get_scene(const std::string &_name = "");
 
    GZ_RENDERING_VISIBLE
    void update_scene_poses(const std::string &_name,
                            const msgs::PosesStamped &_msg);
 
    GZ_RENDERING_VISIBLE
    void set_lockstep_enabled(bool _enable);
 
    GZ_RENDERING_VISIBLE
    bool lockstep_enabled();
 
    GZ_RENDERING_VISIBLE
    bool wait_for_render_request(const std::string &_name,
                                 const double _timeoutsec);
 
    GZ_RENDERING_VISIBLE
    rendering::ScenePtr create_scene(const std::string &_name,
                                     bool _enableVisualizations,
                                     bool _isServer = false);
 
    GZ_RENDERING_VISIBLE
    void remove_scene(const std::string &_name);
 
  }
}
#endif