Base class for all physics objects in Gazebo. More...

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::Entity:

Public Member Functions
	Entity (BasePtr _parent)
	Constructor.

virtual	~Entity ()
	Destructor.

virtual void	Fini ()
	Finalize the entity.

virtual math::Box	GetBoundingBox () const
	Return the bounding box for the entity.

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.

math::Pose	GetInitialRelativePose () const
	Get the initial relative pose.

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.

virtual math::Vector3	GetRelativeAngularAccel () const
	Get the angular acceleration of the entity.

virtual math::Vector3	GetRelativeAngularVel () const
	Get the angular velocity of the entity.

virtual math::Vector3	GetRelativeLinearAccel () const
	Get the linear acceleration of the entity.

virtual math::Vector3	GetRelativeLinearVel () const
	Get the linear velocity of the entity.

math::Pose	GetRelativePose () const
	Get the pose of the entity relative to its parent.

virtual math::Vector3	GetWorldAngularAccel () const
	Get the angular acceleration of the entity in the world frame.

virtual math::Vector3	GetWorldAngularVel () const
	Get the angular velocity of the entity in the world frame.

virtual math::Vector3	GetWorldLinearAccel () const
	Get the linear acceleration of the entity in the world frame.

virtual math::Vector3	GetWorldLinearVel () const
	Get the linear velocity of the entity in the world frame.

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.

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

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.

virtual void	Reset ()
	Reset the entity.

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.

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

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.

virtual void	Init ()
	Initialize the object.

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.

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	Update ()
	Update the object.

Protected Member Functions
virtual void	OnPoseChange ()=0
	This function is called when the entity's (or one of its parents) pose of the parent has changed.

Protected Attributes
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 container.

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

Base class for all physics objects in Gazebo.

Constructor & Destructor Documentation

gazebo::physics::Entity::Entity ( BasePtr _parent )

explicit

Constructor.

Parameters

[in] _parent Parent of the entity.

virtual gazebo::physics::Entity::~Entity ( )

virtual

Destructor.

Member Function Documentation

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

virtual

Finalize the entity.

Reimplemented from gazebo::physics::Base.

Reimplemented in gazebo::physics::Actor, gazebo::physics::Model, gazebo::physics::Link, and gazebo::physics::Collision.

virtual math::Box gazebo::physics::Entity::GetBoundingBox ( ) const

virtual

Return the bounding box for the entity.

Returns: The bounding box.

Reimplemented in gazebo::physics::Link, gazebo::physics::Model, and gazebo::physics::Collision.

CollisionPtr gazebo::physics::Entity::GetChildCollision ( const std::string & _name )

Get a child collision entity, if one exists.

Parameters

[in] _name Name of the child collision object.

Returns: Pointer to the Collision object, or NULL if not found.

LinkPtr gazebo::physics::Entity::GetChildLink ( const std::string & _name )

Get a child linke entity, if one exists.

Parameters

[in] _name Name of the child Link object.

Returns: Pointer to the Link object, or NULL if not found.

math::Box gazebo::physics::Entity::GetCollisionBoundingBox ( ) const

Returns collision bounding box.

Returns: Collsiion boundin box.

const math::Pose& gazebo::physics::Entity::GetDirtyPose ( ) const

Returns Entity::dirtyPose.

The dirty pose is the pose set by the physics engine before it's value is propagated to the rest of the simulator.

Returns: The dirty pose of the entity.

math::Pose gazebo::physics::Entity::GetInitialRelativePose ( ) const

Get the initial relative pose.

Returns: The initial relative pose.

void gazebo::physics::Entity::GetNearestEntityBelow	(	double &	_distBelow,
		std::string &	_entityName
	)

Get the distance to the nearest entity below (along the Z-axis) this entity.

Parameters

[out]	_distBelow	The distance to the nearest entity below.
[out]	_entityName	The name of the nearest entity below.

ModelPtr gazebo::physics::Entity::GetParentModel ( )

Get the parent model, if one exists.

Returns: Pointer to a model, or NULL if no parent model exists.

virtual math::Vector3 gazebo::physics::Entity::GetRelativeAngularAccel ( ) const

inlinevirtual

Get the angular acceleration of the entity.

Returns: A math::Vector3 for the acceleration.

Reimplemented in gazebo::physics::Link, gazebo::physics::Collision, and gazebo::physics::Model.

virtual math::Vector3 gazebo::physics::Entity::GetRelativeAngularVel ( ) const

inlinevirtual

Get the angular velocity of the entity.

Returns: A math::Vector3 for the velocity.

Reimplemented in gazebo::physics::Link, gazebo::physics::Collision, and gazebo::physics::Model.

virtual math::Vector3 gazebo::physics::Entity::GetRelativeLinearAccel ( ) const

inlinevirtual

Get the linear acceleration of the entity.

Returns: A math::Vector3 for the acceleration.

Reimplemented in gazebo::physics::Link, gazebo::physics::Collision, and gazebo::physics::Model.

virtual math::Vector3 gazebo::physics::Entity::GetRelativeLinearVel ( ) const

inlinevirtual

Get the linear velocity of the entity.

Returns: A math::Vector3 for the linear velocity.

Reimplemented in gazebo::physics::Link, gazebo::physics::Collision, and gazebo::physics::Model.

math::Pose gazebo::physics::Entity::GetRelativePose ( ) const

Get the pose of the entity relative to its parent.

Returns: The pose of the entity relative to its parent.

virtual math::Vector3 gazebo::physics::Entity::GetWorldAngularAccel ( ) const

inlinevirtual

Get the angular acceleration of the entity in the world frame.

Returns: A math::Vector3 for the acceleration.

Reimplemented in gazebo::physics::Link, gazebo::physics::Collision, and gazebo::physics::Model.

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

inlinevirtual

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

Returns: A math::Vector3 for the velocity.

Reimplemented in gazebo::physics::Collision, and gazebo::physics::Model.

virtual math::Vector3 gazebo::physics::Entity::GetWorldLinearAccel ( ) const

inlinevirtual

Get the linear acceleration of the entity in the world frame.

Returns: A math::Vector3 for the acceleration.

Reimplemented in gazebo::physics::Link, gazebo::physics::Collision, and gazebo::physics::Model.

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

inlinevirtual

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

Returns: A math::Vector3 for the linear velocity.

Reimplemented in gazebo::physics::Collision, and gazebo::physics::Model.

const math::Pose& gazebo::physics::Entity::GetWorldPose ( ) const

inline

Get the absolute pose of the entity.

Returns: The absolute pose of the entity.

Referenced by gazebo::sensors::RFIDTag::GetTagPose().

bool gazebo::physics::Entity::IsCanonicalLink ( ) const

inline

A helper function that checks if this is a canonical body.

Returns: True if the link is canonical.

bool gazebo::physics::Entity::IsStatic ( ) const

Return whether this entity is static.

Returns: True if static.

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

virtual

Load the entity.

Parameters

[in] _sdf Pointer to an SDF element.

Reimplemented from gazebo::physics::Base.

Reimplemented in gazebo::physics::Actor, gazebo::physics::Model, gazebo::physics::Link, and gazebo::physics::Collision.

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

protectedpure virtual

This function is called when the entity's (or one of its parents) pose of the parent has changed.

Implemented in gazebo::physics::Link, and gazebo::physics::Model.

void gazebo::physics::Entity::PlaceOnEntity ( const std::string & _entityName )

Move this entity to be ontop of another entity by name.

Parameters

[in] _entityName Name of the Entity this Entity should be ontop of.

void gazebo::physics::Entity::PlaceOnNearestEntityBelow ( )

Move this entity to be ontop of the nearest entity below.

virtual void gazebo::physics::Entity::Reset ( )

virtual

Reset the entity.

Reimplemented from gazebo::physics::Base.

Reimplemented in gazebo::physics::Model, and gazebo::physics::Link.

void gazebo::physics::Entity::SetAnimation	(	const common::PoseAnimationPtr &	_anim,
		boost::function< void()>	_onComplete
	)

Set an animation for this entity.

Parameters

[in]	_anim	Pose animation.
[in]	_onComplete	Callback for when the animation completes.

void gazebo::physics::Entity::SetAnimation ( common::PoseAnimationPtr _anim )

Set an animation for this entity.

Parameters

[in] _anim Pose animation.

void gazebo::physics::Entity::SetCanonicalLink ( bool _value )

Set to true if this entity is a canonical link for a model.

Parameters

[in] _value True if the link is canonical.

void gazebo::physics::Entity::SetInitialRelativePose ( const math::Pose & _pose )

Set the initial pose.

Parameters

[in] _pose The initial pose.

virtual void gazebo::physics::Entity::SetName ( const std::string & _name )

virtual

Set the name of the entity.

Parameters

[in] _name The new name.

Reimplemented from gazebo::physics::Base.

void gazebo::physics::Entity::SetRelativePose	(	const math::Pose &	_pose,
		bool	_notify = `true`,
		bool	_publish = `true`
	)

Set the pose of the entity relative to its parent.

Parameters

[in]	_pose	The new pose.
[in]	_notify	True = tell children of the pose change.
[in]	_publish	True to publish the pose.

void gazebo::physics::Entity::SetStatic ( const bool & _static )

Set whether this entity is static: immovable.

Parameters

[in] _static True = static.

void gazebo::physics::Entity::SetWorldPose	(	const math::Pose &	_pose,
		bool	_notify = `true`,
		bool	_publish = `true`
	)

Set the world pose of the entity.

Parameters

[in]	_pose	The new world pose.
[in]	_notify	True = tell children of the pose change.
[in]	_publish	True to publish the pose.

void gazebo::physics::Entity::SetWorldTwist	(	const math::Vector3 &	_linear,
		const math::Vector3 &	_angular,
		bool	_updateChildren = `true`
	)

Set angular and linear rates of an physics::Entity.

Parameters

[in]	_linear	Linear twist.
[in]	_angular	Angular twist.
[in]	_updateChildren	True to pass this update to child entities.

virtual void gazebo::physics::Entity::StopAnimation ( )

virtual

Stop the current animation, if any.

Reimplemented in gazebo::physics::Model.

virtual void gazebo::physics::Entity::UpdateParameters ( sdf::ElementPtr _sdf )

virtual

Update the parameters using new sdf values.

Parameters

[in] _sdf SDF to update from.

Reimplemented from gazebo::physics::Base.

Reimplemented in gazebo::physics::Actor, gazebo::physics::Model, gazebo::physics::Link, and gazebo::physics::Collision.

Member Data Documentation

common::PoseAnimationPtr gazebo::physics::Entity::animation

protected

Current pose animation.

event::ConnectionPtr gazebo::physics::Entity::animationConnection

protected

Connection used to update an animation.

math::Pose gazebo::physics::Entity::animationStartPose

protected

Start pose of an animation.

std::vector<event::ConnectionPtr> gazebo::physics::Entity::connections

protected

All our event connections.

math::Pose gazebo::physics::Entity::dirtyPose

protected

The pose set by a physics engine.

transport::NodePtr gazebo::physics::Entity::node

protected

Communication node.

EntityPtr gazebo::physics::Entity::parentEntity

protected

A helper that prevents numerous dynamic_casts.

msgs::Pose* gazebo::physics::Entity::poseMsg

protected

Pose message container.

common::Time gazebo::physics::Entity::prevAnimationTime

protected

Previous time an animation was updated.

transport::PublisherPtr gazebo::physics::Entity::requestPub

protected

Request publisher.

transport::PublisherPtr gazebo::physics::Entity::visPub

protected

Visual publisher.

msgs::Visual* gazebo::physics::Entity::visualMsg

protected

Visual message container.

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

Entity.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation