Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner. More...

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::MultiRayShape:

Public Member Functions
	MultiRayShape (CollisionPtr _parent)
	Constructor.

virtual	~MultiRayShape ()
	Destructor.

template<typename T >
event::ConnectionPtr	ConnectNewLaserScans (T _subscriber)
	Connect a to the new laser scan signal.

void	DisconnectNewLaserScans (event::ConnectionPtr &_conn)
	Disconnect from the new laser scans signal.

void	FillMsg (msgs::Geometry &_msg)
	This function is not implemented.

int	GetFiducial (int _index)
	Get detected fiducial value for a ray.

math::Angle	GetMaxAngle () const
	Get the maximum angle.

double	GetMaxRange () const
	Get the maximum range.

math::Angle	GetMinAngle () const
	Get the minimum angle.

double	GetMinRange () const
	Get the minimum range.

double	GetRange (int _index)
	Get detected range for a ray.

double	GetResRange () const
	Get the range resolution.

double	GetRetro (int _index)
	Get detected retro (intensity) value for a ray.

int	GetSampleCount () const
	Get the horizontal sample count.

double	GetScanResolution () const
	Get the horizontal resolution.

math::Angle	GetVerticalMaxAngle () const
	Get the vertical max angle.

math::Angle	GetVerticalMinAngle () const
	Get the vertical min angle.

int	GetVerticalSampleCount () const
	Get the vertical sample count.

double	GetVerticalScanResolution () const
	Get the vertical range resolution.

virtual void	Init ()
	Init the shape.

virtual void	ProcessMsg (const msgs::Geometry &_msg)
	This function is not implemented.

void	Update ()
	Update the ray collisions.

Public Member Functions inherited from gazebo::physics::Shape
	Shape (CollisionPtr p)
	Constructor.

virtual	~Shape ()
	Destructor.

virtual void	FillShapeMsg (msgs::Geometry &_msg) GAZEBO_DEPRECATED

virtual void	GetInertial (double _mass, InertialPtr _inertial) const
	Get inertial for a shape.

virtual double	GetMass (double _density) const
	Get the mass of a shape.

Public Member Functions inherited from gazebo::physics::Base
	Base (BasePtr parent)
	Constructor.

virtual	~Base ()
	Destructor.

void	AddChild (BasePtr _child)
	Add a child to this entity.

void	AddType (EntityType _type)
	Add a type specifier.

virtual void	Fini ()
	Finialize the object.

BasePtr	GetById (unsigned int _id) const
	Get a child or self by id.

BasePtr	GetByName (const std::string &_name)
	Get by name.

BasePtr	GetChild (unsigned int _i) const
	Get a child by index.

BasePtr	GetChild (const std::string &_name)
	Get a child by name.

unsigned int	GetChildCount () const
	Get the number of children.

unsigned int	GetId () const
	Return the ID of this entity.

std::string	GetName () const
	Return the name of the entity.

BasePtr	GetParent () const
	Get the parent.

int	GetParentId () const
	Return the ID of the parent.

bool	GetSaveable () const
	Get whether the object should be "saved", when the user selects to save the world to xml.

std::string	GetScopedName () const
	Return the name of this entity with the model scope world::model1::...::modelN::entityName.

virtual const sdf::ElementPtr	GetSDF ()
	Get the SDF values for the object.

unsigned int	GetType () const
	Get the full type definition.

const WorldPtr &	GetWorld () const
	Get the World this object is in.

bool	HasType (const EntityType &_t) const
	Returns true if this object's type definition has the given type.

bool	IsSelected () const
	True if the entity is selected by the user.

virtual void	Load (sdf::ElementPtr _sdf)
	Load.

bool	operator== (const Base &_ent) const
	Returns true if the entities are the same.

void	Print (const std::string &_prefix)
	Print this object to screen via gzmsg.

virtual void	RemoveChild (unsigned int _id)
	Remove a child from this entity.

void	RemoveChild (const std::string &_name)
	Remove a child by name.

void	RemoveChildren ()
	Remove all children.

virtual void	Reset ()
	Reset the object.

virtual void	Reset (Base::EntityType _resetType)
	Calls recursive Reset on one of the Base::EntityType's.

virtual void	SetName (const std::string &_name)
	Set the name of the entity.

void	SetParent (BasePtr _parent)
	Set the parent.

void	SetSaveable (bool _v)
	Set whether the object should be "saved", when the user selects to save the world to xml.

virtual bool	SetSelected (bool _show)
	Set whether this entity has been selected by the user through the gui.

void	SetWorld (const WorldPtr &_newWorld)
	Set the world this object belongs to.

virtual void	UpdateParameters (sdf::ElementPtr _sdf)
	Update the parameters using new sdf values.

Protected Member Functions
virtual void	AddRay (const math::Vector3 &_start, const math::Vector3 &_end)
	Add a ray to the collision.

virtual void	UpdateRays ()=0
	Physics engine specific method for updating the rays.

Protected Attributes
sdf::ElementPtr	horzElem
	Horizontal SDF element pointer.

event::EventT< void()>	newLaserScans
	New laser scans event.

math::Pose	offset
	Pose offset of all the rays.

sdf::ElementPtr	rangeElem
	Range SDF element pointer.

sdf::ElementPtr	rayElem
	Ray SDF element pointer.

std::vector< RayShapePtr >	rays
	Ray data.

sdf::ElementPtr	scanElem
	Scan SDF element pointer.

sdf::ElementPtr	vertElem
	Vertical SDF element pointer.

Additional Inherited Members
Public Types inherited from gazebo::physics::Base
enum	EntityType { BASE = 0x00000000, ENTITY = 0x00000001, MODEL = 0x00000002, LINK = 0x00000004, COLLISION = 0x00000008, ACTOR = 0x00000016, LIGHT = 0x00000010, VISUAL = 0x00000020, JOINT = 0x00000040, BALL_JOINT = 0x00000080, HINGE2_JOINT = 0x00000100, HINGE_JOINT = 0x00000200, SLIDER_JOINT = 0x00000400, SCREW_JOINT = 0x00000800, UNIVERSAL_JOINT = 0x00001000, SHAPE = 0x00002000, BOX_SHAPE = 0x00004000, CYLINDER_SHAPE = 0x00008000, HEIGHTMAP_SHAPE = 0x00010000, MAP_SHAPE = 0x00020000, MULTIRAY_SHAPE = 0x00040000, RAY_SHAPE = 0x00080000, PLANE_SHAPE = 0x00100000, SPHERE_SHAPE = 0x00200000, TRIMESH_SHAPE = 0x00400000 }
	Unique identifiers for all entity types. More...

Public Attributes inherited from gazebo::physics::Shape
CollisionPtr	collisionParent

Detailed Description

Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner.

Constructor & Destructor Documentation

gazebo::physics::MultiRayShape::MultiRayShape ( CollisionPtr _parent )

explicit

Constructor.

Parameters

[in] _parent Parent collision shape.

virtual gazebo::physics::MultiRayShape::~MultiRayShape ( )

virtual

Destructor.

Member Function Documentation

virtual void gazebo::physics::MultiRayShape::AddRay	(	const math::Vector3 &	_start,
		const math::Vector3 &	_end
	)

protectedvirtual

Add a ray to the collision.

Parameters

[in]	_start	Start of the ray.
[in]	_end	End of the ray.

Reimplemented in gazebo::physics::ODEMultiRayShape, and gazebo::physics::BulletMultiRayShape.

template<typename T >

event::ConnectionPtr gazebo::physics::MultiRayShape::ConnectNewLaserScans ( T _subscriber )

inline

Connect a to the new laser scan signal.

Parameters

[in] _subscriber Callback function.

Returns: The connection, which must be kept in scope.

References gazebo::event::EventT< T >::Connect(), and newLaserScans.

void gazebo::physics::MultiRayShape::DisconnectNewLaserScans ( event::ConnectionPtr & _conn )

inline

Disconnect from the new laser scans signal.

Parameters

[in] _conn Connection to remove.

References gazebo::event::EventT< T >::Disconnect(), and newLaserScans.

void gazebo::physics::MultiRayShape::FillMsg ( msgs::Geometry & _msg )

virtual

This function is not implemented.

Fill a message with this shape's values.

Parameters

[out] _msg Message that contains the shape's values.

Implements gazebo::physics::Shape.

int gazebo::physics::MultiRayShape::GetFiducial ( int _index )

Get detected fiducial value for a ray.

Parameters

[in] _index Index of the ray.

Returns: Fiducial value for the ray.

math::Angle gazebo::physics::MultiRayShape::GetMaxAngle ( ) const

Get the maximum angle.

Returns: Maximum angle of ray scan.

double gazebo::physics::MultiRayShape::GetMaxRange ( ) const

Get the maximum range.

Returns: Maximum range of all the rays.

math::Angle gazebo::physics::MultiRayShape::GetMinAngle ( ) const

Get the minimum angle.

Returns: Minimum angle of ray scan.

double gazebo::physics::MultiRayShape::GetMinRange ( ) const

Get the minimum range.

Returns: Minimum range of all the rays.

double gazebo::physics::MultiRayShape::GetRange ( int _index )

Get detected range for a ray.

Parameters

[in] _index Index of the ray.

Returns: Returns DBL_MAX for no detection.

double gazebo::physics::MultiRayShape::GetResRange ( ) const

Get the range resolution.

Returns: Range resolution of all the rays.

double gazebo::physics::MultiRayShape::GetRetro ( int _index )

Get detected retro (intensity) value for a ray.

Parameters

[in] _index Index of the ray.

Returns: Retro value for the ray.

int gazebo::physics::MultiRayShape::GetSampleCount ( ) const

Get the horizontal sample count.

Returns: Horizontal sample count.

double gazebo::physics::MultiRayShape::GetScanResolution ( ) const

Get the horizontal resolution.

Returns: Horizontal resolution.

math::Angle gazebo::physics::MultiRayShape::GetVerticalMaxAngle ( ) const

Get the vertical max angle.

Returns: Verticam max angle.

math::Angle gazebo::physics::MultiRayShape::GetVerticalMinAngle ( ) const

Get the vertical min angle.

Returns: Vertical min angle.

int gazebo::physics::MultiRayShape::GetVerticalSampleCount ( ) const

Get the vertical sample count.

Returns: Verical sample count.

double gazebo::physics::MultiRayShape::GetVerticalScanResolution ( ) const

Get the vertical range resolution.

Returns: Vertical range resolution.

virtual void gazebo::physics::MultiRayShape::Init ( )

virtual

Init the shape.

Implements gazebo::physics::Shape.

virtual void gazebo::physics::MultiRayShape::ProcessMsg ( const msgs::Geometry & _msg )

virtual

This function is not implemented.

Update the ray based on a message.

Parameters

[in] _msg Message to update from.

Implements gazebo::physics::Shape.

void gazebo::physics::MultiRayShape::Update ( )

virtual

Update the ray collisions.

Reimplemented from gazebo::physics::Base.

virtual void gazebo::physics::MultiRayShape::UpdateRays ( )

protectedpure virtual

Physics engine specific method for updating the rays.

Implemented in gazebo::physics::BulletMultiRayShape, and gazebo::physics::ODEMultiRayShape.

Member Data Documentation

sdf::ElementPtr gazebo::physics::MultiRayShape::horzElem

protected

Horizontal SDF element pointer.

event::EventT<void()> gazebo::physics::MultiRayShape::newLaserScans

protected

New laser scans event.

Referenced by ConnectNewLaserScans(), and DisconnectNewLaserScans().

math::Pose gazebo::physics::MultiRayShape::offset

protected

Pose offset of all the rays.

sdf::ElementPtr gazebo::physics::MultiRayShape::rangeElem

protected

Range SDF element pointer.

sdf::ElementPtr gazebo::physics::MultiRayShape::rayElem

protected

Ray SDF element pointer.

std::vector<RayShapePtr> gazebo::physics::MultiRayShape::rays

protected

Ray data.

sdf::ElementPtr gazebo::physics::MultiRayShape::scanElem

protected

Scan SDF element pointer.

sdf::ElementPtr gazebo::physics::MultiRayShape::vertElem

protected

Vertical SDF element pointer.

The documentation for this class was generated from the following file:

MultiRayShape.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation