gazebo::physics::ODELink Class Reference

ODE Link class. More...

#include <ODELink.hh>

Inheritance diagram for gazebo::physics::ODELink:

Public Member Functions
	ODELink (EntityPtr _parent)
	Constructor.
virtual	~ODELink ()
	Destructor.
virtual void	AddForce (const math::Vector3 &_force)
	Add a force to the body.
virtual void	AddForceAtRelativePosition (const math::Vector3 &_force, const math::Vector3 &_relpos)
	Set the force applied to the body (add by Stefano)
virtual void	AddForceAtWorldPosition (const math::Vector3 &_force, const math::Vector3 &_pos)
	Add a force to the body using a global position.
virtual void	AddRelativeForce (const math::Vector3 &_force)
	Add a force to the body.
virtual void	AddRelativeTorque (const math::Vector3 &_torque)
	Add a torque to the body relative frame.
virtual void	AddTorque (const math::Vector3 &_torque)
	Add a torque to the body.
virtual void	Fini ()
	Finalize the link.
virtual bool	GetEnabled () const
	Get whether this link is enabled in the physics engine.
virtual bool	GetGravityMode ()
	Get the gravity mode.
virtual bool	GetKinematic () const
	Get whether this link is in the kinematic state.
dBodyID	GetODEId () const
	Return the ID of this link.
dSpaceID	GetSpaceId () const
	Get the link's space ID.
virtual math::Vector3	GetWorldAngularVel () const
	Get the angular velocity of the link in the world frame.
virtual math::Vector3	GetWorldForce () const
	Get the force applied to the link in the world frame.
virtual math::Vector3	GetWorldLinearVel () const
	Get the linear velocity of the link in the world frame.
virtual math::Vector3	GetWorldTorque () const
	Get the torque applied to the link in the world frame.
virtual void	Init ()
	Initialize the link.
virtual void	Load (sdf::ElementPtr _sdf)
	Load the link based on SDF parameters.
virtual void	OnPoseChange ()
	Called when the pose of the entity (or one of its parents) has changed.
virtual void	SetAngularDamping (double damping)
	Set the angular damping factor.
virtual void	SetAngularVel (const math::Vector3 &vel)
	Set the angular velocity of the link.
virtual void	SetAutoDisable (bool _disable)
	Allow the link to auto disable.
virtual void	SetEnabled (bool enable) const
	Set whether this link is enabled.
virtual void	SetForce (const math::Vector3 &_force)
	Set the force applied to the link.
virtual void	SetGravityMode (bool mode)
	Set whether gravity affects this link.
virtual void	SetKinematic (const bool &state)
	Set whether this link is in the kinematic state.
virtual void	SetLinearDamping (double damping)
	Set the linear damping factor.
virtual void	SetLinearVel (const math::Vector3 &vel)
	Set the linear velocity of the link.
void	SetSelfCollide (bool collide)
	Set whether this link will collide with others in the model.
void	SetSpaceId (dSpaceID spaceid)
	Set the link's space ID.
virtual void	SetTorque (const math::Vector3 &_torque)
	Set the torque applied to the link.
virtual void	Update ()
	Update the link.
virtual void	UpdateMass ()
	Update the mass matrix.
virtual void	UpdateSurface ()
	Update other parameters for ODE.
Public Member Functions inherited from gazebo::physics::Link
	Link (EntityPtr _parent)
	Constructor.
virtual	~Link ()
	Destructor.
void	AddChildJoint (JointPtr _joint)
	Joints that have this Link as a parent Link.
void	AddParentJoint (JointPtr _joint)
	Joints that have this Link as a child Link.
void	AttachStaticModel (ModelPtr &_model, const math::Pose &_offset)
	Attach a static model to this link.
template<typename T >
event::ConnectionPtr	ConnectEnabled (T _subscriber)
	Connect to the add entity signal.
void	DetachAllStaticModels ()
	Detach all static models from this link.
void	DetachStaticModel (const std::string &_modelName)
	Detach a static model from this link.
void	DisconnectEnabled (event::ConnectionPtr &_conn)
	Disconnect to the add entity signal.
void	FillLinkMsg (msgs::Link &_msg) GAZEBO_DEPRECATED
	DEPRECATED.
void	FillMsg (msgs::Link &_msg)
	Fill a link message.
double	GetAngularDamping () const
	Get the angular damping factor.
virtual math::Box	GetBoundingBox () const
	Get the bounding box for the link and all the child elements.
Link_V	GetChildJointsLinks () const
	Returns a vector of children Links connected by joints.
CollisionPtr	GetCollision (const std::string &_name)
	Get a child collision by name.
CollisionPtr	GetCollision (unsigned int _index) const
	Get a child collision by index.
CollisionPtr	GetCollisionById (unsigned int _id) const
	Get a collision by id.
InertialPtr	GetInertial () const
	Get the inertia of the link.
double	GetLinearDamping () const
	Get the linear damping factor.
ModelPtr	GetModel () const
	Get the model that this body belongs to.
Link_V	GetParentJointsLinks () const
	Returns a vector of parent Links connected by joints.
math::Vector3	GetRelativeAngularAccel () const
	Get the angular acceleration of the body.
math::Vector3	GetRelativeAngularVel () const
	Get the angular velocity of the body.
math::Vector3	GetRelativeForce () const
	Get the force applied to the body.
math::Vector3	GetRelativeLinearAccel () const
	Get the linear acceleration of the body.
math::Vector3	GetRelativeLinearVel () const
	Get the linear velocity of the body.
math::Vector3	GetRelativeTorque () const
	Get the torque applied to the body.
bool	GetSelfCollide ()
	Get Self-Collision Flag, if this is true, this body will collide with other bodies even if they share the same parent.
unsigned int	GetSensorCount () const
	Get sensor count.
std::string	GetSensorName (unsigned int _index) const
	Get sensor name.
LinkState	GetState ()
	Get the link state.
math::Vector3	GetWorldAngularAccel () const
	Get the angular acceleration of the body in the world frame.
math::Vector3	GetWorldLinearAccel () const
	Get the linear acceleration of the body in the world frame.
void	ProcessMsg (const msgs::Link &_msg)
	Update parameters from a message.
void	RemoveChildJoint (JointPtr _joint)
	Remove Joints that have this Link as a parent Link.
void	RemoveParentJoint (JointPtr _joint)
	Remove Joints that have this Link as a child Link.
void	Reset ()
	Reset the link.
void	SetAngularAccel (const math::Vector3 &_accel)
	Set the angular acceleration of the body.
void	SetCollideMode (const std::string &_mode)
	Set the collide mode of the body.
void	SetInertial (const InertialPtr &_inertial)
	Set the mass of the link.
void	SetLaserRetro (float _retro)
	Set the laser retro reflectiveness.
void	SetLinearAccel (const math::Vector3 &_accel)
	Set the linear acceleration of the body.
virtual bool	SetSelected (bool _set)
	Set whether this entity has been selected by the user through the gui.
void	SetState (const LinkState &_state)
	Set the current link state.
virtual void	UpdateParameters (sdf::ElementPtr _sdf)
	Update the parameters using new sdf values.
Public Member Functions inherited from gazebo::physics::Entity
	Entity (BasePtr _parent)
	Constructor.
virtual	~Entity ()
	Destructor.
CollisionPtr	GetChildCollision (const std::string &_name)
	Get a child collision entity, if one exists.
LinkPtr	GetChildLink (const std::string &_name)
	Get a child linke entity, if one exists.
math::Box	GetCollisionBoundingBox () const
	Returns collision bounding box.
const math::Pose &	GetDirtyPose () const
	Returns Entity::dirtyPose.
void	GetNearestEntityBelow (double &_distBelow, std::string &_entityName)
	Get the distance to the nearest entity below (along the Z-axis) this entity.
ModelPtr	GetParentModel ()
	Get the parent model, if one exists.
math::Pose	GetRelativePose () const
	Get the pose of the entity relative to its parent.
const math::Pose &	GetWorldPose () const
	Get the absolute pose of the entity.
bool	IsCanonicalLink () const
	A helper function that checks if this is a canonical body.
bool	IsStatic () const
	Return whether this entity is static.
void	PlaceOnEntity (const std::string &_entityName)
	Move this entity to be ontop of another entity by name.
void	PlaceOnNearestEntityBelow ()
	Move this entity to be ontop of the nearest entity below.
void	SetAnimation (const common::PoseAnimationPtr &_anim, boost::function< void()> _onComplete)
	Set an animation for this entity.
void	SetAnimation (common::PoseAnimationPtr _anim)
	Set an animation for this entity.
void	SetCanonicalLink (bool _value)
	Set to true if this entity is a canonical link for a model.
void	SetInitialRelativePose (const math::Pose &_pose)
	Set the initial pose.
virtual void	SetName (const std::string &_name)
	Set the name of the entity.
void	SetRelativePose (const math::Pose &_pose, bool _notify=true, bool _publish=true)
	Set the pose of the entity relative to its parent.
void	SetStatic (const bool &_static)
	Set whether this entity is static: immovable.
void	SetWorldPose (const math::Pose &_pose, bool _notify=true, bool _publish=true)
	Set the world pose of the entity.
void	SetWorldTwist (const math::Vector3 &_linear, const math::Vector3 &_angular, bool _updateChildren=true)
	Set angular and linear rates of an physics::Entity.
virtual void	StopAnimation ()
	Stop the current animation, if any.
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.
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.
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 (Base::EntityType _resetType)
	Calls recursive Reset on one of the Base::EntityType's.
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.
void	SetWorld (const WorldPtr &_newWorld)
	Set the world this object belongs to.

Static Public Member Functions
static void	DisabledCallback (dBodyID _id)
	callback when ODE determines a body is disabled
static void	MoveCallback (dBodyID id)
	when ODE updates dynamics bodies, this callback propagates the chagnes in pose back to Gazebo

Protected Attributes
math::Pose	pose
Protected Attributes inherited from gazebo::physics::Link
math::Vector3	angularAccel
	Angular acceleration.
std::vector< math::Pose >	attachedModelsOffset
	Offsets for the attached models.
std::vector< std::string >	cgVisuals
	Center of gravity visual elements.
InertialPtr	inertial
	Inertial properties.
math::Vector3	linearAccel
	Linear acceleration.
std::vector< std::string >	visuals
	Link visual elements.
Protected Attributes inherited from gazebo::physics::Entity
common::PoseAnimationPtr	animation
	Current pose animation.
event::ConnectionPtr	animationConnection
	Connection used to update an animation.
math::Pose	animationStartPose
	Start pose of an animation.
std::vector< event::ConnectionPtr >	connections
	All our event connections.
math::Pose	dirtyPose
	The pose set by a physics engine.
transport::NodePtr	node
	Communication node.
EntityPtr	parentEntity
	A helper that prevents numerous dynamic_casts.
msgs::Pose *	poseMsg
	Pose message containr.
common::Time	prevAnimationTime
	Previous time an animation was updated.
transport::PublisherPtr	requestPub
	Request publisher.
transport::PublisherPtr	visPub
	Visual publisher.
msgs::Visual *	visualMsg
	Visual message container.
Protected Attributes inherited from gazebo::physics::Base
Base_V	children
	Children of this entity.
Base_V::iterator	childrenEnd
	End of the children vector.
BasePtr	parent
	Parent of this entity.
sdf::ElementPtr	sdf
	The SDF values for this object.
WorldPtr	world
	Pointer to the world.

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...

Detailed Description

ODE Link class.

Constructor & Destructor Documentation

gazebo::physics::ODELink::ODELink

(

EntityPtr

_parent

)

Constructor.

virtual gazebo::physics::ODELink::~ODELink ( )

virtual

Destructor.

Member Function Documentation

virtual void gazebo::physics::ODELink::AddForce ( const math::Vector3 &  _force )

virtual

Add a force to the body.

Implements gazebo::physics::Link.

virtual void gazebo::physics::ODELink::AddForceAtRelativePosition ( const math::Vector3 &  _force, const math::Vector3 &  _relpos  )

virtual

Set the force applied to the body (add by Stefano)

Implements gazebo::physics::Link.

virtual void gazebo::physics::ODELink::AddForceAtWorldPosition ( const math::Vector3 &  _force, const math::Vector3 &  _pos  )

virtual

Add a force to the body using a global position.

Implements gazebo::physics::Link.

virtual void gazebo::physics::ODELink::AddRelativeForce ( const math::Vector3 &  _force )

virtual

Add a force to the body.

Implements gazebo::physics::Link.

virtual void gazebo::physics::ODELink::AddRelativeTorque ( const math::Vector3 &  _torque )

virtual

Add a torque to the body relative frame.

Implements gazebo::physics::Link.

virtual void gazebo::physics::ODELink::AddTorque ( const math::Vector3 &  _torque )

virtual

Add a torque to the body.

Implements gazebo::physics::Link.

static void gazebo::physics::ODELink::DisabledCallback ( dBodyID  _id )

static

callback when ODE determines a body is disabled

virtual void gazebo::physics::ODELink::Fini ( )

virtual

Finalize the link.

Reimplemented from gazebo::physics::Link.

virtual bool gazebo::physics::ODELink::GetEnabled ( ) const

virtual

Get whether this link is enabled in the physics engine.

Implements gazebo::physics::Link.

virtual bool gazebo::physics::ODELink::GetGravityMode ( )

virtual

Get the gravity mode.

Implements gazebo::physics::Link.

virtual bool gazebo::physics::ODELink::GetKinematic ( ) const

virtual

Get whether this link is in the kinematic state.

Reimplemented from gazebo::physics::Link.

dBodyID gazebo::physics::ODELink::GetODEId

(

)

const

Return the ID of this link.

Returns

ODE link id

dSpaceID gazebo::physics::ODELink::GetSpaceId

(

)

const

Get the link's space ID.

virtual math::Vector3 gazebo::physics::ODELink::GetWorldAngularVel ( ) const

virtual

Get the angular velocity of the link in the world frame.

Reimplemented from gazebo::physics::Entity.

virtual math::Vector3 gazebo::physics::ODELink::GetWorldForce ( ) const

virtual

Get the force applied to the link in the world frame.

Implements gazebo::physics::Link.

virtual math::Vector3 gazebo::physics::ODELink::GetWorldLinearVel ( ) const

virtual

Get the linear velocity of the link in the world frame.

Reimplemented from gazebo::physics::Entity.

virtual math::Vector3 gazebo::physics::ODELink::GetWorldTorque ( ) const

virtual

Get the torque applied to the link in the world frame.

Implements gazebo::physics::Link.

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

virtual

Initialize the link.

Reimplemented from gazebo::physics::Link.

virtual void gazebo::physics::ODELink::Load ( sdf::ElementPtr  _sdf )

virtual

Load the link based on SDF parameters.

Parameters

_sdf	the sdf parameters

Reimplemented from gazebo::physics::Link.

static void gazebo::physics::ODELink::MoveCallback ( dBodyID  id )

static

when ODE updates dynamics bodies, this callback propagates the chagnes in pose back to Gazebo

virtual void gazebo::physics::ODELink::OnPoseChange ( )

virtual

Called when the pose of the entity (or one of its parents) has changed.

Reimplemented from gazebo::physics::Link.

virtual void gazebo::physics::ODELink::SetAngularDamping ( double  damping )

virtual

Set the angular damping factor.

Implements gazebo::physics::Link.

virtual void gazebo::physics::ODELink::SetAngularVel ( const math::Vector3 &  vel )

virtual

Set the angular velocity of the link.

Implements gazebo::physics::Link.

virtual void gazebo::physics::ODELink::SetAutoDisable ( bool  _disable )

virtual

Allow the link to auto disable.

Parameters

_disable

If true, the link is allowed to auto disable.

Implements gazebo::physics::Link.

virtual void gazebo::physics::ODELink::SetEnabled ( bool  enable ) const

virtual

Set whether this link is enabled.

Implements gazebo::physics::Link.

virtual void gazebo::physics::ODELink::SetForce ( const math::Vector3 &  _force )

virtual

Set the force applied to the link.

Implements gazebo::physics::Link.

virtual void gazebo::physics::ODELink::SetGravityMode ( bool  mode )

virtual

Set whether gravity affects this link.

Implements gazebo::physics::Link.

virtual void gazebo::physics::ODELink::SetKinematic ( const bool &  state )

virtual

Set whether this link is in the kinematic state.

Reimplemented from gazebo::physics::Link.

virtual void gazebo::physics::ODELink::SetLinearDamping ( double  damping )

virtual

Set the linear damping factor.

Implements gazebo::physics::Link.

virtual void gazebo::physics::ODELink::SetLinearVel ( const math::Vector3 &  vel )

virtual

Set the linear velocity of the link.

Implements gazebo::physics::Link.

void gazebo::physics::ODELink::SetSelfCollide ( bool  collide )

virtual

Set whether this link will collide with others in the model.

Implements gazebo::physics::Link.

void gazebo::physics::ODELink::SetSpaceId

(

dSpaceID

spaceid

)

Set the link's space ID.

virtual void gazebo::physics::ODELink::SetTorque ( const math::Vector3 &  _torque )

virtual

Set the torque applied to the link.

Implements gazebo::physics::Link.

virtual void gazebo::physics::ODELink::Update ( )

virtual

Update the link.

Reimplemented from gazebo::physics::Link.

virtual void gazebo::physics::ODELink::UpdateMass ( )

virtual

Update the mass matrix.

Reimplemented from gazebo::physics::Link.

virtual void gazebo::physics::ODELink::UpdateSurface ( )

virtual

Update other parameters for ODE.

Reimplemented from gazebo::physics::Link.

Member Data Documentation

math::Pose gazebo::physics::ODELink::pose

protected

---

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

• ODELink.hh