simulation_manager.h

/*
 *  ______                   __  __              __
 * /\  _  \           __    /\ \/\ \            /\ \__
 * \ \ \L\ \  __  __ /\_\   \_\ \ \ \____    ___\ \ ,_\   ____
 *  \ \  __ \/\ \/\ \\/\ \  /'_` \ \ '__`\  / __`\ \ \/  /',__\
 *   \ \ \/\ \ \ \_/ |\ \ \/\ \L\ \ \ \L\ \/\ \L\ \ \ \_/\__, `\
 *    \ \_\ \_\ \___/  \ \_\ \___,_\ \_,__/\ \____/\ \__\/\____/
 *     \/_/\/_/\/__/    \/_/\/__,_ /\/___/  \/___/  \/__/\/___/
 * @copyright Copyright 2017 Avidbots Corp.
 * @name  simulation_manager.h
 * @brief Simulation manager class header definition
 * @author Joseph Duchesne
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2017, Avidbots Corp.
 *  All rights reserved.
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 *     with the distribution.
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#ifndef FLATLAND_SERVER_SIMULATION_MANAGER_H
#define FLATLAND_SERVER_SIMULATION_MANAGER_H

#include <Box2D/Box2D.h>
#include <flatland_server/debug_visualization.h>
#include <flatland_server/timekeeper.h>
#include <flatland_server/world.h>
#include <string>

namespace flatland_server {

class SimulationManager {
 public:
  bool run_simulator_;           
  World *world_;                 
  double update_rate_;           
  double step_size_;             
  bool show_viz_;                
  double viz_pub_rate_;          
  std::string world_yaml_file_;  

  SimulationManager(std::string world_yaml_file, double update_rate,
                    double step_size, bool show_viz, double viz_pub_rate);

  void Main();

  void Shutdown();
};
};      // namespace flatland_server
#endif  // FLATLAND_SERVER_SIMULATION_MANAGER_H