/usr/include/gazebo-9/gazebo/gazebo.hh is in libgazebo9-dev 9.0.0+dfsg5-3ubuntu1.
This file is owned by root:root, with mode 0o644.
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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_HH_
#define _GAZEBO_HH_
#include <gazebo/gazebo_core.hh>
#include <string>
#include <vector>
#include "gazebo/util/system.hh"
namespace gazebo
{
/// \brief Output version information to the terminal.
GAZEBO_VISIBLE
void printVersion();
/// \brief Add a system plugin.
/// \param[in] _filename Path to the plugin.
GAZEBO_VISIBLE
void addPlugin(const std::string &_filename);
/// \brief Start a gazebo server. This starts transportation, and makes it
/// possible to create worlds.
/// \param[in] _argc Number of commandline arguments.
/// \param[in] _argv The commandline arguments.
/// \return True on success.
GAZEBO_VISIBLE
bool setupServer(int _argc = 0, char **_argv = 0);
/// \brief Start a gazebo server. This starts transportation, and makes it
/// possible to create worlds.
/// \param[in] _args Vector of arguments only parsed by the system plugins.
/// Note that when you run gazebo/gzserver, all the options (--version,
/// --server-plugin, etc.) are parsed but when using Gazebo as a library, the
/// arguments are only parsed by the system plugins.
/// \sa gazebo::SystemPlugin::Load()
/// \return True on success.
GAZEBO_VISIBLE
bool setupServer(const std::vector<std::string> &_args);
/// \brief Create and load a new world from an SDF world file.
/// \param[in] _worldFile The world file to load from.
/// \return Pointer to the created world. NULL on error.
GAZEBO_VISIBLE
gazebo::physics::WorldPtr loadWorld(const std::string &_worldFile);
/// \brief Run a world for a specific number of iterations.
/// \param[in] _world Pointer to a world.
/// \param[in] _iterations Number of iterations to execute.
GAZEBO_VISIBLE
void runWorld(gazebo::physics::WorldPtr _world, unsigned int _iterations);
/// \brief Stop and cleanup simulation.
/// \return True if the simulation is shutdown; false otherwise.
GAZEBO_VISIBLE
bool shutdown();
}
#endif
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