Link class defines a rigid body entity, containing information on inertia, visual and collision properties of a rigid body. More...
#include <physics/physics.hh>
Public Member Functions | |
| Link (EntityPtr _parent) | |
| Constructor. | |
| virtual | ~Link () |
| Destructor. | |
| void | AddChildJoint (JointPtr _joint) |
| Joints that have this Link as a parent Link. | |
| virtual void | AddForce (const math::Vector3 &_force)=0 |
| Add a force to the body. | |
| virtual void | AddForceAtRelativePosition (const math::Vector3 &_force, const math::Vector3 &_relPos)=0 |
| Add a force to the body at position expressed to the body's own frame of reference. | |
| virtual void | AddForceAtWorldPosition (const math::Vector3 &_force, const math::Vector3 &_pos)=0 |
| Add a force to the body using a global position. | |
| void | AddParentJoint (JointPtr _joint) |
| Joints that have this Link as a child Link. | |
| virtual void | AddRelativeForce (const math::Vector3 &_force)=0 |
| Add a force to the body, components are relative to the body's own frame of reference. | |
| virtual void | AddRelativeTorque (const math::Vector3 &_torque)=0 |
| Add a torque to the body, components are relative to the body's own frame of reference. | |
| virtual void | AddTorque (const math::Vector3 &_torque)=0 |
| Add a torque to the body. | |
| 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 | FillMsg (msgs::Link &_msg) |
| Fill a link message. | |
| void | Fini () |
| Finalize the body. | |
| 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. | |
| Collision_V | GetCollisions () const |
| Get all the child collisions. | |
| virtual bool | GetEnabled () const =0 |
| Get whether this body is enabled in the physics engine. | |
| virtual bool | GetGravityMode ()=0 |
| Get the gravity mode. | |
| InertialPtr | GetInertial () const |
| Get the inertia of the link. | |
| virtual bool | GetKinematic () const |
| Implement this function. | |
| 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. | |
| math::Vector3 | GetWorldAngularAccel () const |
| Get the angular acceleration of the body in the world frame. | |
| virtual math::Vector3 | GetWorldForce () const =0 |
| Get the force applied to the body in the world frame. | |
| math::Vector3 | GetWorldLinearAccel () const |
| Get the linear acceleration of the body in the world frame. | |
| virtual math::Vector3 | GetWorldTorque () const =0 |
| Get the torque applied to the body in the world frame. | |
| virtual void | Init () |
| Initialize the body. | |
| virtual void | Load (sdf::ElementPtr _sdf) |
| Load the body based on an SDF element. | |
| virtual void | OnPoseChange () |
| This function is called when the entity's (or one of its parents) pose of the parent has changed. | |
| 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. | |
| virtual void | SetAngularDamping (double _damping)=0 |
| Set the angular damping factor. | |
| virtual void | SetAngularVel (const math::Vector3 &_vel)=0 |
| Set the angular velocity of the body. | |
| virtual void | SetAutoDisable (bool _disable)=0 |
| Allow the link to auto disable. | |
| void | SetCollideMode (const std::string &_mode) |
| Set the collide mode of the body. | |
| virtual void | SetEnabled (bool _enable) const =0 |
| Set whether this body is enabled. | |
| virtual void | SetForce (const math::Vector3 &_force)=0 |
| Set the force applied to the body. | |
| virtual void | SetGravityMode (bool _mode)=0 |
| Set whether gravity affects this body. | |
| void | SetInertial (const InertialPtr &_inertial) |
| Set the mass of the link. | |
| virtual void | SetKinematic (const bool &_kinematic) |
| Implement this function. | |
| void | SetLaserRetro (float _retro) |
| Set the laser retro reflectiveness. | |
| void | SetLinearAccel (const math::Vector3 &_accel) |
| Set the linear acceleration of the body. | |
| virtual void | SetLinearDamping (double _damping)=0 |
| Set the linear damping factor. | |
| virtual void | SetLinearVel (const math::Vector3 &_vel)=0 |
| Set the linear velocity of the body. | |
| virtual bool | SetSelected (bool _set) |
| Set whether this entity has been selected by the user through the gui. | |
| virtual void | SetSelfCollide (bool _collide)=0 |
| Set whether this body will collide with others in the model. | |
| void | SetState (const LinkState &_state) |
| Set the current link state. | |
| virtual void | SetTorque (const math::Vector3 &_torque)=0 |
| Set the torque applied to the body. | |
| virtual void | Update () |
| Update the body. | |
| virtual void | UpdateMass () |
| Update the mass matrix. | |
| virtual void | UpdateParameters (sdf::ElementPtr _sdf) |
| Update the parameters using new sdf values. | |
| virtual void | UpdateSurface () |
| Update surface parameters. | |
 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. | |
| 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. | |
| math::Pose | GetRelativePose () const |
| Get the pose of the entity relative to its parent. | |
| virtual math::Vector3 | GetWorldAngularVel () const |
| Get the angular velocity 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. | |
| 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. | |
Protected Attributes | |
| 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 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... | |
Link class defines a rigid body entity, containing information on inertia, visual and collision properties of a rigid body.
|
explicit |
Constructor.
| [in] | _parent | Parent of this link. |
|
virtual |
Destructor.
| void gazebo::physics::Link::AddChildJoint | ( | JointPtr | _joint | ) |
|
pure virtual |
Add a force to the body.
| [in] | _force | Force to add. |
|
pure virtual |
Add a force to the body at position expressed to the body's own frame of reference.
| [in] | _force | Force to add. |
| [in] | _relPos | Position on the link to add the force. |
|
pure virtual |
Add a force to the body using a global position.
| [in] | _force | Force to add. |
| [in] | _pos | Position in global coord frame to add the force. |
| void gazebo::physics::Link::AddParentJoint | ( | JointPtr | _joint | ) |
|
pure virtual |
Add a force to the body, components are relative to the body's own frame of reference.
| [in] | _force | Force to add. |
|
pure virtual |
Add a torque to the body, components are relative to the body's own frame of reference.
| [in] | _torque | Torque value to add. |
|
pure virtual |
Add a torque to the body.
| [in] | _torque | Torque value to add to the link. |
| void gazebo::physics::Link::AttachStaticModel | ( | ModelPtr & | _model, |
| const math::Pose & | _offset | ||
| ) |
Attach a static model to this link.
| [in] | _model | Pointer to a static model. |
| [in] | _offset | Pose relative to this link to place the model. |
|
inline |
Connect to the add entity signal.
| [in] | _subscriber | Subsciber callback function. |
References gazebo::event::EventT< T >::Connect().
| void gazebo::physics::Link::DetachAllStaticModels | ( | ) |
Detach all static models from this link.
| void gazebo::physics::Link::DetachStaticModel | ( | const std::string & | _modelName | ) |
Detach a static model from this link.
| [in] | _modelName | Name of an attached model to detach. |
|
inline |
Disconnect to the add entity signal.
| [in] | _conn | Connection pointer to disconnect. |
References gazebo::event::EventT< T >::Disconnect().
| void gazebo::physics::Link::FillMsg | ( | msgs::Link & | _msg | ) |
Fill a link message.
| [out] | _msg | Message to fill |
|
virtual |
Finalize the body.
Reimplemented from gazebo::physics::Entity.
| double gazebo::physics::Link::GetAngularDamping | ( | ) | const |
Get the angular damping factor.
|
virtual |
Get the bounding box for the link and all the child elements.
Reimplemented from gazebo::physics::Entity.
| Link_V gazebo::physics::Link::GetChildJointsLinks | ( | ) | const |
Returns a vector of children Links connected by joints.
| CollisionPtr gazebo::physics::Link::GetCollision | ( | const std::string & | _name | ) |
Get a child collision by name.
| [in] | _name | Name of the collision object. |
| CollisionPtr gazebo::physics::Link::GetCollision | ( | unsigned int | _index | ) | const |
Get a child collision by index.
| [in] | _index | Index of the collision object. |
| CollisionPtr gazebo::physics::Link::GetCollisionById | ( | unsigned int | _id | ) | const |
Get a collision by id.
| [in] | _id | Id of the collision object to find. |
| Collision_V gazebo::physics::Link::GetCollisions | ( | ) | const |
Get all the child collisions.
|
pure virtual |
Get whether this body is enabled in the physics engine.
|
pure virtual |
Get the gravity mode.
|
inline |
|
inlinevirtual |
Implement this function.
Get whether this body is in the kinematic state.
| double gazebo::physics::Link::GetLinearDamping | ( | ) | const |
Get the linear damping factor.
| ModelPtr gazebo::physics::Link::GetModel | ( | ) | const |
Get the model that this body belongs to.
| Link_V gazebo::physics::Link::GetParentJointsLinks | ( | ) | const |
Returns a vector of parent Links connected by joints.
|
virtual |
Get the angular acceleration of the body.
Reimplemented from gazebo::physics::Entity.
|
virtual |
Get the angular velocity of the body.
Reimplemented from gazebo::physics::Entity.
| math::Vector3 gazebo::physics::Link::GetRelativeForce | ( | ) | const |
Get the force applied to the body.
|
virtual |
Get the linear acceleration of the body.
Reimplemented from gazebo::physics::Entity.
|
virtual |
Get the linear velocity of the body.
Reimplemented from gazebo::physics::Entity.
| math::Vector3 gazebo::physics::Link::GetRelativeTorque | ( | ) | const |
Get the torque applied to the body.
| bool gazebo::physics::Link::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 gazebo::physics::Link::GetSensorCount | ( | ) | const |
Get sensor count.
This will return the number of sensors created by the link when it was loaded. This function is commonly used with Link::GetSensorName.
| std::string gazebo::physics::Link::GetSensorName | ( | unsigned int | _index | ) | const |
Get sensor name.
Get the name of a sensor based on an index. The index should be in the range of 0...Link::GetSensorCount().
| [in] | _index | Index of the sensor name. |
|
virtual |
Get the angular acceleration of the body in the world frame.
Reimplemented from gazebo::physics::Entity.
|
pure virtual |
Get the force applied to the body in the world frame.
|
virtual |
Get the linear acceleration of the body in the world frame.
Reimplemented from gazebo::physics::Entity.
|
pure virtual |
Get the torque applied to the body in the world frame.
|
virtual |
Initialize the body.
Reimplemented from gazebo::physics::Base.
|
virtual |
Load the body based on an SDF element.
| [in] | _sdf | SDF parameters. |
Reimplemented from gazebo::physics::Entity.
|
virtual |
This function is called when the entity's (or one of its parents) pose of the parent has changed.
Implements gazebo::physics::Entity.
| void gazebo::physics::Link::ProcessMsg | ( | const msgs::Link & | _msg | ) |
Update parameters from a message.
| [in] | _msg | Message to read. |
| void gazebo::physics::Link::RemoveChildJoint | ( | JointPtr | _joint | ) |
| void gazebo::physics::Link::RemoveParentJoint | ( | JointPtr | _joint | ) |
|
virtual |
Reset the link.
Reimplemented from gazebo::physics::Entity.
| void gazebo::physics::Link::SetAngularAccel | ( | const math::Vector3 & | _accel | ) |
Set the angular acceleration of the body.
| [in] | _accel | Angular acceleration. |
|
pure virtual |
Set the angular damping factor.
| [in] | _damping | Angular damping factor. |
|
pure virtual |
Set the angular velocity of the body.
| [in] | _vel | Angular velocity. |
|
pure virtual |
Allow the link to auto disable.
| [in] | _disable | If true, the link is allowed to auto disable. |
| void gazebo::physics::Link::SetCollideMode | ( | const std::string & | _mode | ) |
Set the collide mode of the body.
| [in] | _mode | Collision Mode, this can be: [all|none|sensors|fixed|ghost] all: collides with everything none: collides with nothing sensors: collides with everything else but other sensors fixed: collides with everything else but other fixed ghost: collides with everything else but other ghost |
|
pure virtual |
Set whether this body is enabled.
| [in] | _enable | True to enable the link in the physics engine. |
|
pure virtual |
Set the force applied to the body.
| [in] | _force | Force value. |
|
pure virtual |
Set whether gravity affects this body.
| [in] | _mode | True to enable gravity. |
| void gazebo::physics::Link::SetInertial | ( | const InertialPtr & | _inertial | ) |
Set the mass of the link.
[in] _inertial Inertial value for the link.
|
virtual |
Implement this function.
Set whether this body is in the kinematic state.
| [in] | _kinematic | True to make the link kinematic only. |
| void gazebo::physics::Link::SetLaserRetro | ( | float | _retro | ) |
Set the laser retro reflectiveness.
| [in] | _retro | Retro value for all child collisions. |
| void gazebo::physics::Link::SetLinearAccel | ( | const math::Vector3 & | _accel | ) |
Set the linear acceleration of the body.
| [in] | _accel | Linear acceleration. |
|
pure virtual |
Set the linear damping factor.
| [in] | _damping | Linear damping factor. |
|
pure virtual |
Set the linear velocity of the body.
| [in] | _vel | Linear velocity. |
|
virtual |
Set whether this entity has been selected by the user through the gui.
| [in] | _set | True to set the link as selected. |
Reimplemented from gazebo::physics::Base.
|
pure virtual |
Set whether this body will collide with others in the model.
| [in] | _collid | True to enable collisions. |
| void gazebo::physics::Link::SetState | ( | const LinkState & | _state | ) |
Set the current link state.
| [in] | _state | The state to set the link to. |
|
pure virtual |
Set the torque applied to the body.
| [in] | _torque | Torque value. |
|
virtual |
Update the body.
Reimplemented from gazebo::physics::Base.
|
inlinevirtual |
Update the mass matrix.
|
virtual |
Update the parameters using new sdf values.
| [in] | _sdf | SDF values to load from. |
Reimplemented from gazebo::physics::Entity.
|
inlinevirtual |
Update surface parameters.
|
protected |
Angular acceleration.
|
protected |
Offsets for the attached models.
|
protected |
Center of gravity visual elements.
|
protected |
Inertial properties.
Referenced by GetInertial().
|
protected |
Linear acceleration.
|
protected |
Link visual elements.