Base class for Ray collision geometry. More...

#include <RayShape.hh>

Inheritance diagram for gazebo::physics::RayShape:

Public Member Functions
	RayShape (PhysicsEnginePtr _physicsEngine)
	Constructor for a global ray.

	RayShape (CollisionPtr parent)
	Constructor.

virtual	~RayShape ()
	Destructor.

void	FillMsg (msgs::Geometry &)

int	GetFiducial () const
	Get the fiducial id detected by this ray.

virtual void	GetGlobalPoints (math::Vector3 &posA, math::Vector3 &posB)
	Get the global starting and ending points.

virtual void	GetIntersection (double &_dist, std::string &_entity)=0
	Get the nearest intersection.

double	GetLength () const
	Get the length of the ray.

virtual void	GetRelativePoints (math::Vector3 &posA, math::Vector3 &posB)
	Get the relative starting and ending points.

float	GetRetro () const
	Get the retro-reflectivness detected by this ray.

virtual void	Init ()
	In the ray.

virtual void	ProcessMsg (const msgs::Geometry &)

void	SetFiducial (int fid)
	Set the fiducial id detected by this ray.

virtual void	SetLength (double len)
	Set the length of the ray.

virtual void	SetPoints (const math::Vector3 &posStart, const math::Vector3 &posEnd)
	Set the ray based on starting and ending points relative to the body.

void	SetRetro (float retro)
	Set the retro-reflectivness detected by this ray.

virtual void	Update ()=0
	Update the ray collision.

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 Attributes
int	contactFiducial

double	contactLen
	Contact information; this is filled out during collision detection.

double	contactRetro

math::Vector3	globalEndPos

math::Vector3	globalStartPos
	Start and end positions of the ray in global cs.

math::Vector3	relativeEndPos

math::Vector3	relativeStartPos
	Start and end positions of the ray, relative to the body.

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

Base class for Ray collision geometry.

Constructor & Destructor Documentation

gazebo::physics::RayShape::RayShape ( PhysicsEnginePtr _physicsEngine )

Constructor for a global ray.

gazebo::physics::RayShape::RayShape ( CollisionPtr parent )

Constructor.

Parameters

body	Link the ray is attached to
displayRays	Indicates if the rays should be displayed when rendering images

virtual gazebo::physics::RayShape::~RayShape ( )

virtual

Destructor.

Member Function Documentation

void gazebo::physics::RayShape::FillMsg ( msgs::Geometry & )

inlinevirtual

Implements gazebo::physics::Shape.

int gazebo::physics::RayShape::GetFiducial ( ) const

Get the fiducial id detected by this ray.

virtual void gazebo::physics::RayShape::GetGlobalPoints	(	math::Vector3 &	posA,
		math::Vector3 &	posB
	)

virtual

Get the global starting and ending points.

Parameters

posA	Returns the starting point
posB	Returns the ending point

virtual void gazebo::physics::RayShape::GetIntersection	(	double &	_dist,
		std::string &	_entity
	)

pure virtual

Get the nearest intersection.

Implemented in gazebo::physics::ODERayShape, and gazebo::physics::BulletRayShape.

double gazebo::physics::RayShape::GetLength ( ) const

Get the length of the ray.

virtual void gazebo::physics::RayShape::GetRelativePoints	(	math::Vector3 &	posA,
		math::Vector3 &	posB
	)

virtual

Get the relative starting and ending points.

Parameters

posA	Returns the starting point
posB	Returns the ending point

float gazebo::physics::RayShape::GetRetro ( ) const

Get the retro-reflectivness detected by this ray.

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

virtual

In the ray.

Implements gazebo::physics::Shape.

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

inlinevirtual

Implements gazebo::physics::Shape.

void gazebo::physics::RayShape::SetFiducial ( int fid )

Set the fiducial id detected by this ray.

virtual void gazebo::physics::RayShape::SetLength ( double len )

virtual

Set the length of the ray.

Parameters

len	Length of the array

virtual void gazebo::physics::RayShape::SetPoints	(	const math::Vector3 &	posStart,
		const math::Vector3 &	posEnd
	)

virtual

Set the ray based on starting and ending points relative to the body.

Parameters

posStart	Start position, relative the body
posEnd	End position, relative to the body

Reimplemented in gazebo::physics::ODERayShape, and gazebo::physics::BulletRayShape.

void gazebo::physics::RayShape::SetRetro ( float retro )

Set the retro-reflectivness detected by this ray.

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

pure virtual

Update the ray collision.

Reimplemented from gazebo::physics::Base.

Implemented in gazebo::physics::ODERayShape, and gazebo::physics::BulletRayShape.

Member Data Documentation

int gazebo::physics::RayShape::contactFiducial

protected

double gazebo::physics::RayShape::contactLen

protected

Contact information; this is filled out during collision detection.

double gazebo::physics::RayShape::contactRetro

protected

math::Vector3 gazebo::physics::RayShape::globalEndPos

protected

math::Vector3 gazebo::physics::RayShape::globalStartPos

protected

Start and end positions of the ray in global cs.

math::Vector3 gazebo::physics::RayShape::relativeEndPos

protected

math::Vector3 gazebo::physics::RayShape::relativeStartPos

protected

Start and end positions of the ray, relative to the body.

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

RayShape.hh

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation