gazebo::physics::LinkState Class Reference

Store state information of a physics::Link object. More...

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::LinkState:

Public Member Functions
	LinkState ()
	Default constructor.
	LinkState (const LinkPtr _link)
	Constructor.
	LinkState (const sdf::ElementPtr _sdf)
	Constructor.
virtual	~LinkState ()
	Destructor.
const math::Pose &	GetAcceleration () const
	Get the link acceleration.
CollisionState	GetCollisionState (unsigned int _index) const
	Get a collision state.
CollisionState	GetCollisionState (const std::string &_collisionName) const
	Get a link state by link name.
unsigned int	GetCollisionStateCount () const
	Get the number of link states.
const std::vector < CollisionState > &	GetCollisionStates () const
	Get the collision states.
const math::Pose &	GetPose () const
	Get the link pose.
const math::Pose &	GetVelocity () const
	Get the link velocity.
const math::Pose &	GetWrench () const
	Get the force applied to the Link.
bool	IsZero () const
	Return true if the values in the state are zero.
virtual void	Load (const sdf::ElementPtr _elem)
	Load state from SDF element.
LinkState	operator+ (const LinkState &_state) const
	Addition operator.
LinkState	operator- (const LinkState &_state) const
	Subtraction operator.
LinkState &	operator= (const LinkState &_state)
	Assignment operator.
Public Member Functions inherited from gazebo::physics::State
	State ()
	Default constructor.
	State (const std::string &_name, const common::Time &_realTime, const common::Time &_simTime)
	Constructor.
virtual	~State ()
	Destructor.
std::string	GetName () const
	Get the name associated with this State.
common::Time	GetRealTime () const
	Get the real time when this state was generated.
common::Time	GetSimTime () const
	Get the sim time when this state was generated.
common::Time	GetWallTime () const
	Get the wall time when this state was generated.
State	operator- (const State &_state) const
	Subtraction operator.
State &	operator= (const State &_state)
	Assignment operator.
void	SetName (const std::string &_name)
	Set the name associated with this State.

Friends
std::ostream &	operator<< (std::ostream &_out, const gazebo::physics::LinkState &_state)
	Stream insertion operator.

Additional Inherited Members
Protected Attributes inherited from gazebo::physics::State
std::string	name
	Name associated with this State.
common::Time	realTime
common::Time	simTime
common::Time	wallTime
	Times for the state data.

Detailed Description

Store state information of a physics::Link object.

This class captures the entire state of a Link at one specific time during a simulation run.

State of a Link includes the state of itself all its child Collision entities.

Constructor & Destructor Documentation

gazebo::physics::LinkState::LinkState

(

)

Default constructor.

gazebo::physics::LinkState::LinkState ( const LinkPtr  _link )

explicit

Constructor.

Build a LinkState from an existing Link.

Parameters

[in]

_model

Pointer to the Link from which to gather state info.

gazebo::physics::LinkState::LinkState ( const sdf::ElementPtr  _sdf )

explicit

Constructor.

Build a LinkState from SDF data

Parameters

[in]

_sdf

SDF data to load a link state from.

virtual gazebo::physics::LinkState::~LinkState ( )

virtual

Destructor.

Member Function Documentation

const math::Pose& gazebo::physics::LinkState::GetAcceleration

(

)

const

Get the link acceleration.

Returns

The acceleration represented as a math::Pose.

CollisionState gazebo::physics::LinkState::GetCollisionState

(

unsigned int

_index

)

const

Get a collision state.

Get a Collision State based on an index, where index is in the range of 0...LinkState::GetCollisionStateCount.

Parameters

[in]

_index

Index of the CollisionState.

Returns

State of the Collision.

Exceptions

common::Exception

When _index is invalid.

CollisionState gazebo::physics::LinkState::GetCollisionState

(

const std::string &

_collisionName

)

const

Get a link state by link name.

Searches through all CollisionStates. Returns the CollisionState with the matching name, if any.

Parameters

[in]

_collisionName

Name of the CollisionState

Returns

State of the Collision.

Exceptions

common::Exception

When _collisionName is invalid

unsigned int gazebo::physics::LinkState::GetCollisionStateCount

(

)

const

Get the number of link states.

This returns the number of Collisions recorded.

Returns

Number of CollisionState recorded.

const std::vector<CollisionState>& gazebo::physics::LinkState::GetCollisionStates

(

)

const

Get the collision states.

Returns

A vector of collision states.

const math::Pose& gazebo::physics::LinkState::GetPose

(

)

const

Get the link pose.

Returns

The math::Pose of the Link.

const math::Pose& gazebo::physics::LinkState::GetVelocity

(

)

const

Get the link velocity.

Returns

The velocity represented as a math::Pose.

const math::Pose& gazebo::physics::LinkState::GetWrench

(

)

const

Get the force applied to the Link.

Returns

Magnitude of the force.

bool gazebo::physics::LinkState::IsZero

(

)

const

Return true if the values in the state are zero.

Returns

True if the values in the state are zero.

virtual void gazebo::physics::LinkState::Load ( const sdf::ElementPtr  _elem )

virtual

Load state from SDF element.

Load LinkState information from stored data in and SDF::Element.

Parameters

[in]

_elem

Pointer to the SDF::Element containing state info.

Reimplemented from gazebo::physics::State.

LinkState gazebo::physics::LinkState::operator+

(

const LinkState &

_state

)

const

Addition operator.

Parameters

[in]

_pt

A state to add.

Returns

The resulting state.

LinkState gazebo::physics::LinkState::operator-

(

const LinkState &

_state

)

const

Subtraction operator.

Parameters

[in]

_pt

A state to substract.

Returns

The resulting state.

LinkState& gazebo::physics::LinkState::operator=

(

const LinkState &

_state

)

Assignment operator.

Parameters

[in]

_state

State value

Returns

this

Friends And Related Function Documentation

std::ostream& operator<< ( std::ostream &  _out, const gazebo::physics::LinkState &  _state  )

friend

Stream insertion operator.

Parameters

[in]	_out	output stream
[in]	_state	Link state to output

Returns

the stream

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

• LinkState.hh