world_plugin.h

/*
 *  ______                   __  __              __
 * /\  _  \           __    /\ \/\ \            /\ \__
 * \ \ \L\ \  __  __ /\_\   \_\ \ \ \____    ___\ \ ,_\   ____
 *  \ \  __ \/\ \/\ \\/\ \  /'_` \ \ '__`\  / __`\ \ \/  /',__\
 *   \ \ \/\ \ \ \_/ |\ \ \/\ \L\ \ \ \L\ \/\ \L\ \ \ \_/\__, `\
 *    \ \_\ \_\ \___/  \ \_\ \___,_\ \_,__/\ \____/\ \__\/\____/
 *     \/_/\/_/\/__/    \/_/\/__,_ /\/___/  \/___/  \/__/\/___/
 * @copyright Copyright 2017 Avidbots Corp.
 * @name  world_plugin.h
 * @brief Interface for WorldPlugin pluginlib plugins
 * @author Yi Ren
 *
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2017, Avidbots Corp.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
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 *      copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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#ifndef FLATLAND_SERVER_WORLD_PLUGIN_H
#define FLATLAND_SERVER_WORLD_PLUGIN_H

#include <Box2D/Box2D.h>
#include <flatland_server/flatland_plugin.h>
#include <flatland_server/timekeeper.h>
#include <flatland_server/yaml_reader.h>
#include <ros/ros.h>
#include <yaml-cpp/yaml.h>
#include <string>

namespace flatland_server {
// forward declaration
class World;
class WorldPlugin : public FlatlandPlugin {
 protected:
  World *world_;
  std::string name_;
  std::string type_;
  YamlReader world_config_;

 public:
  /*
  * @brief WorldPlugin default constructor
  */
  WorldPlugin() = default;

  /*
  * @brief initialize the plugin
  * @param[in] world, the World the plugin is attached to
  * @param[in] name, name of the plugin
  * @param[in] type, type of the plugin
  * @param[in] plugin_reader, the YAML node contain the plugin's config
  * @param[in] world_config, the yaml reader of world.yaml
  */
  void Initialize(World *world, std::string name, std::string type,
                  YAML::Node &plugin_reader, YamlReader &world_config);
};
};

#endif  // FLATLAND_SERVER_WORLD_PLUGIN_H