17 #ifndef IGNITION_GAZEBO_SERVER_HH_ 18 #define IGNITION_GAZEBO_SERVER_HH_ 23 #include <ignition/gazebo/config.hh> 25 #include <ignition/gazebo/Export.hh> 34 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
115 public:
void SetUpdatePeriod(
116 const std::chrono::steady_clock::duration &_updatePeriod,
117 const unsigned int _worldIndex = 0);
134 public:
bool Run(
const bool _blocking =
false,
135 const uint64_t _iterations = 0,
136 const bool _paused =
true);
145 public:
bool Running()
const;
155 public: std::optional<bool> Running(
const unsigned int _worldIndex)
const;
164 public:
bool SetPaused(
const bool _paused,
165 const unsigned int _worldIndex = 0)
const;
173 public: std::optional<bool> Paused(
174 const unsigned int _worldIndex = 0)
const;
180 public: std::optional<uint64_t> IterationCount(
181 const unsigned int _worldIndex = 0)
const;
186 public: std::optional<size_t> EntityCount(
187 const unsigned int _worldIndex = 0)
const;
192 public: std::optional<size_t> SystemCount(
193 const unsigned int _worldIndex = 0)
const;
201 public: std::optional<bool> AddSystem(
203 const unsigned int _worldIndex = 0);
213 public: std::optional<Entity> EntityByName(
const std::string &_name,
214 const unsigned int _worldIndex = 0)
const;
223 const unsigned int _worldIndex = 0)
const;
238 public:
bool RequestRemoveEntity(
const std::string &_name,
239 bool _recursive =
true,
240 const unsigned int _worldIndex = 0);
253 public:
bool RequestRemoveEntity(
const Entity _entity,
254 bool _recursive =
true,
255 const unsigned int _worldIndex = 0);
The server instantiates and controls simulation.
Definition: Server.hh:98
Configuration parameters for a Server. An instance of this object can be used to construct a Server w...
Definition: ServerConfig.hh:42
This library is part of the Ignition Robotics project.
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light. At its core, an Entity is just an identifier.
Definition: Entity.hh:59