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Can someone explain the role of "ConnectWorldUpdateBegin()" function ?

Gazebo Version : 7.13.1
Ubuntu 16.04
As a newbie, I tried a lot to understand the use of above function but I am not able to understand it fully. It would be really helpful, if someone can explain it with an example. It would be even nice, if someone can explain line number 143 and 144 in LiftDragPlugin.Thanks in advance.