WavefieldEntity.hh

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/*
 * Copyright (C) 2019  Rhys Mainwaring
 *
 * 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 _WAVE_GAZEBO_PLUGINS_WAVEFIELD_ENTITY_HH_
#define _WAVE_GAZEBO_PLUGINS_WAVEFIELD_ENTITY_HH_

#include <memory>
#include <string>
#include <gazebo/gazebo.hh>
#include <gazebo/physics/Base.hh>

namespace asv
{
// WavefieldEntity

  class WaveParameters;

  class WavefieldEntityPrivate;

  class GZ_PHYSICS_VISIBLE WavefieldEntity : public gazebo::physics::Base
  {
    public: virtual ~WavefieldEntity();

    public: explicit WavefieldEntity(gazebo::physics::BasePtr _parent);

    public: virtual void Load(sdf::ElementPtr _sdf);

    public: virtual void Fini();

    public: virtual void Init();

    public: virtual void Reset();

    public: virtual void Update();

    std::shared_ptr<const WaveParameters> GetWaveParams() const;

    public: static std::string MakeName(const std::string& _parentName);

    private: std::shared_ptr<WavefieldEntityPrivate> data;
  };
}

#endif  // _WAVE_GAZEBO_PLUGINS_WAVEFIELD_ENTITY_HH_