A model is a collection of links, joints, and plugins. More...

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::Model:

Public Member Functions
	Model (BasePtr _parent)
	Constructor.

virtual	~Model ()
	Destructor.

void	AttachStaticModel (ModelPtr &_model, math::Pose _offset)
	Attach a static model to this model.

void	DetachStaticModel (const std::string &_model)
	Detach a static model from this model.

void	FillMsg (msgs::Model &_msg)
	Fill a model message.

virtual void	Fini ()
	Finalize the model.

bool	GetAutoDisable () const
	Return the value of the SDF <allow_auto_disable> element.

virtual math::Box	GetBoundingBox () const
	Get the size of the bounding box.

JointPtr	GetJoint (const std::string &name)
	Get a joint.

JointControllerPtr	GetJointController ()
	Get a handle to the Controller for the joints in this model.

unsigned int	GetJointCount () const
	Get the number of joints.

const Joint_V &	GetJoints () const
	Get the joints.

LinkPtr	GetLink (const std::string &_name="canonical") const
	Get a link by name.

LinkPtr	GetLinkById (unsigned int _id) const
	Get a link by id.

Link_V	GetLinks () const
	Construct and return a vector of Link's in this model Note this constructs the vector of Link's on the fly, could be costly.

unsigned int	GetPluginCount () const
	Get the number of plugins this model has.

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.

virtual const sdf::ElementPtr	GetSDF ()
	Get the SDF values for the model.

unsigned int	GetSensorCount () const
	Get the number of sensors attached to this model.

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.

virtual void	Init ()
	Initialize the model.

void	Load (sdf::ElementPtr _sdf)
	Load the model.

void	LoadJoints ()
	Load all the joints.

void	LoadPlugins ()
	Load all plugins.

void	ProcessMsg (const msgs::Model &_msg)
	Update parameters from a model message.

virtual void	RemoveChild (EntityPtr _child)
	Remove a child.

void	Reset ()
	Reset the model.

void	SetAngularAccel (const math::Vector3 &_vel)
	Set the angular acceleration of the model, and all its links.

void	SetAngularVel (const math::Vector3 &_vel)
	Set the angular velocity of the model, and all its links.

void	SetAutoDisable (bool _disable)
	Allow the model the auto disable.

void	SetCollideMode (const std::string &_mode)
	This is not implemented in Link, which means this function doesn't do anything.

void	SetEnabled (bool _enabled)
	Enable all the links in all the models.

void	SetGravityMode (const bool &_value)
	Set the gravity mode of the model.

void	SetJointAnimation (const std::map< std::string, common::NumericAnimationPtr > _anim, boost::function< void()> _onComplete=NULL)
	Joint Animation.

void	SetJointPosition (const std::string &_jointName, double _position)
	Set the positions of a Joint by name.

void	SetJointPositions (const std::map< std::string, double > &_jointPositions)
	Set the positions of a set of joints.

void	SetLaserRetro (const float _retro)
	Set the laser retro reflectiveness of the model.

void	SetLinearAccel (const math::Vector3 &_vel)
	Set the linear acceleration of the model, and all its links.

void	SetLinearVel (const math::Vector3 &_vel)
	Set the linear velocity of the model, and all its links.

void	SetLinkWorldPose (const math::Pose &_pose, std::string _linkName)
	Set the Pose of the entire Model by specifying desired Pose of a Link within the Model.

void	SetLinkWorldPose (const math::Pose &_pose, const LinkPtr &_link)
	Set the Pose of the entire Model by specifying desired Pose of a Link within the Model.

void	SetState (const ModelState &_state)
	Set the current model state.

virtual void	StopAnimation ()
	Stop the current animations.

void	Update ()
	Update the model.

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.

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.

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.

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.

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.

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.

Protected Member Functions
virtual void	OnPoseChange ()
	Callback when the pose of the model has been changed.

Protected Attributes
std::vector< ModelPtr >	attachedModels
	used by Model::AttachStaticModel

std::vector< math::Pose >	attachedModelsOffset
	used by Model::AttachStaticModel

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...

Detailed Description

A model is a collection of links, joints, and plugins.

Constructor & Destructor Documentation

gazebo::physics::Model::Model ( BasePtr _parent )

explicit

Constructor.

Parameters

[in] _parent Parent object.

virtual gazebo::physics::Model::~Model ( )

virtual

Destructor.

Member Function Documentation

void gazebo::physics::Model::AttachStaticModel	(	ModelPtr &	_model,
		math::Pose	_offset
	)

Attach a static model to this model.

This function takes as input a static Model, which is a Model that has been marked as static (no physics simulation), and attaches it to this Model with a given offset.

This function is useful when you want to simulate a grasp of a static object, or move a static object around using a dynamic model.

If you are in doubt, do not use this function.

Parameters

[in]	_model	Pointer to the static model.
[in]	_offset	Offset, relative to this Model, to place _model.

void gazebo::physics::Model::DetachStaticModel ( const std::string & _model )

Detach a static model from this model.

Parameters

[in] _model Name of an attached static model to remove.

See Also: Model::AttachStaticModel.

void gazebo::physics::Model::FillMsg ( msgs::Model & _msg )

Fill a model message.

Parameters

[in] _msg Message to fill using this model's data.

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

virtual

Finalize the model.

Reimplemented from gazebo::physics::Entity.

Reimplemented in gazebo::physics::Actor.

bool gazebo::physics::Model::GetAutoDisable ( ) const

Return the value of the SDF <allow_auto_disable> element.

Returns: True if auto disable is allowed for this model.

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

virtual

Get the size of the bounding box.

Returns: The bounding box.

Reimplemented from gazebo::physics::Entity.

JointPtr gazebo::physics::Model::GetJoint ( const std::string & name )

Get a joint.

Parameters

name	The name of the joint, specified in the world file

Returns: Pointer to the joint

JointControllerPtr gazebo::physics::Model::GetJointController ( )

inline

Get a handle to the Controller for the joints in this model.

Returns: A handle to the Controller for the joints in this model.

unsigned int gazebo::physics::Model::GetJointCount ( ) const

Get the number of joints.

Returns: Get the number of joints.

const Joint_V& gazebo::physics::Model::GetJoints ( ) const

Get the joints.

Returns: Vector of joints.

LinkPtr gazebo::physics::Model::GetLink ( const std::string & _name = "canonical" ) const

Get a link by name.

Parameters

[in] _name Name of the link to get.

Returns: Pointer to the link, NULL if the name is invalid.

LinkPtr gazebo::physics::Model::GetLinkById ( unsigned int _id ) const

Get a link by id.

Returns: Pointer to the link, NULL if the id is invalid.

Link_V gazebo::physics::Model::GetLinks ( ) const

Construct and return a vector of Link's in this model Note this constructs the vector of Link's on the fly, could be costly.

Returns: a vector of Link's in this model

unsigned int gazebo::physics::Model::GetPluginCount ( ) const

Get the number of plugins this model has.

Returns: Number of plugins associated with this model.

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

virtual

Get the angular acceleration of the entity.

Returns: math::Vector3, set to 0, 0, 0 if the model has no body.

Reimplemented from gazebo::physics::Entity.

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

virtual

Get the angular velocity of the entity.

Returns: math::Vector3, set to 0, 0, 0 if the model has no body.

Reimplemented from gazebo::physics::Entity.

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

virtual

Get the linear acceleration of the entity.

Returns: math::Vector3, set to 0, 0, 0 if the model has no body.

Reimplemented from gazebo::physics::Entity.

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

virtual

Get the linear velocity of the entity.

Returns: math::Vector3, set to 0, 0, 0 if the model has no body.

Reimplemented from gazebo::physics::Entity.

virtual const sdf::ElementPtr gazebo::physics::Model::GetSDF ( )

virtual

Get the SDF values for the model.

Returns: The SDF value for this model.

Reimplemented from gazebo::physics::Base.

Reimplemented in gazebo::physics::Actor.

unsigned int gazebo::physics::Model::GetSensorCount ( ) const

Get the number of sensors attached to this model.

This will count all the sensors attached to all the links.

Returns: Number of sensors.

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

virtual

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

Returns: math::Vector3, set to 0, 0, 0 if the model has no body.

Reimplemented from gazebo::physics::Entity.

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

virtual

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

Returns: math::Vector3, set to 0, 0, 0 if the model has no body.

Reimplemented from gazebo::physics::Entity.

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

virtual

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

Returns: math::Vector3, set to 0, 0, 0 if the model has no body.

Reimplemented from gazebo::physics::Entity.

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

virtual

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

Returns: math::Vector3, set to 0, 0, 0 if the model has no body.

Reimplemented from gazebo::physics::Entity.

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

virtual

Initialize the model.

Reimplemented from gazebo::physics::Base.

Reimplemented in gazebo::physics::Actor.

void gazebo::physics::Model::Load ( sdf::ElementPtr _sdf )

virtual

Load the model.

Parameters

[in] _sdf SDF parameters to load from.

Reimplemented from gazebo::physics::Entity.

void gazebo::physics::Model::LoadJoints ( )

Load all the joints.

void gazebo::physics::Model::LoadPlugins ( )

Load all plugins.

Load all plugins specified in the SDF for the model.

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

protectedvirtual

Callback when the pose of the model has been changed.

Implements gazebo::physics::Entity.

void gazebo::physics::Model::ProcessMsg ( const msgs::Model & _msg )

Update parameters from a model message.

Parameters

[in] _msg Message to process.

virtual void gazebo::physics::Model::RemoveChild ( EntityPtr _child )

virtual

Remove a child.

Parameters

[in] _child Remove a child entity.

void gazebo::physics::Model::Reset ( )

virtual

Reset the model.

Reimplemented from gazebo::physics::Entity.

void gazebo::physics::Model::SetAngularAccel ( const math::Vector3 & _vel )

Set the angular acceleration of the model, and all its links.

Parameters

[in] _vel The new angular acceleration

void gazebo::physics::Model::SetAngularVel ( const math::Vector3 & _vel )

Set the angular velocity of the model, and all its links.

Parameters

[in] _vel The new angular velocity.

void gazebo::physics::Model::SetAutoDisable ( bool _disable )

Allow the model the auto disable.

This is ignored if the model has joints.

Parameters

[in] _disable If true, the model is allowed to auto disable.

void gazebo::physics::Model::SetCollideMode ( const std::string & _mode )

This is not implemented in Link, which means this function doesn't do anything.

Set the collide mode of the model.

Parameters

[in] _mode The collision mode

void gazebo::physics::Model::SetEnabled ( bool _enabled )

Enable all the links in all the models.

Parameters

[in] _enabled True to enable all the links.

void gazebo::physics::Model::SetGravityMode ( const bool & _value )

Set the gravity mode of the model.

Parameters

[in] _value False to turn gravity on for the model.

void gazebo::physics::Model::SetJointAnimation	(	const std::map< std::string, common::NumericAnimationPtr >	_anim,
		boost::function< void()>	_onComplete = `NULL`
	)

Joint Animation.

Parameters

[in]	_anim	Map of joint names to their position animation.
[in]	_onComplete	Callback function for when the animation completes.

void gazebo::physics::Model::SetJointPosition	(	const std::string &	_jointName,
		double	_position
	)

Set the positions of a Joint by name.

See Also: JointController::SetJointPosition

Parameters

[in]	_jointName	Name of the joint to set.
[in]	_position	Position to set the joint to.

void gazebo::physics::Model::SetJointPositions ( const std::map< std::string, double > & _jointPositions )

Set the positions of a set of joints.

See Also: JointController::SetJointPositions.

Parameters

[in] _jointPositions Map of joint names to their positions.

void gazebo::physics::Model::SetLaserRetro ( const float _retro )

Set the laser retro reflectiveness of the model.

Parameters

[in] _retro Retro reflectance value.

void gazebo::physics::Model::SetLinearAccel ( const math::Vector3 & _vel )

Set the linear acceleration of the model, and all its links.

Parameters

[in] _vel The new linear acceleration.

void gazebo::physics::Model::SetLinearVel ( const math::Vector3 & _vel )

Set the linear velocity of the model, and all its links.

Parameters

[in] _vel The new linear velocity.

void gazebo::physics::Model::SetLinkWorldPose	(	const math::Pose &	_pose,
		std::string	_linkName
	)

Set the Pose of the entire Model by specifying desired Pose of a Link within the Model.

Doing so, keeps the configuration of the Model unchanged, i.e. all Joint angles are unchanged.

Parameters

[in]	_pose	Pose to set the link to.
[in]	_linkName	Name of the link to set.

void gazebo::physics::Model::SetLinkWorldPose	(	const math::Pose &	_pose,
		const LinkPtr &	_link
	)

Set the Pose of the entire Model by specifying desired Pose of a Link within the Model.

Doing so, keeps the configuration of the Model unchanged, i.e. all Joint angles are unchanged.

Parameters

[in]	_pose	Pose to set the link to.
[in]	_link	Pointer to the link to set.

void gazebo::physics::Model::SetState ( const ModelState & _state )

Set the current model state.

Parameters

[in] _state State to set the model to.

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

virtual

Stop the current animations.

Reimplemented from gazebo::physics::Entity.

void gazebo::physics::Model::Update ( )

virtual

Update the model.

Reimplemented from gazebo::physics::Base.

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

virtual

Update the parameters using new sdf values.

Parameters

[in] _sdf SDF values to update from.

Reimplemented from gazebo::physics::Entity.

Reimplemented in gazebo::physics::Actor.

Member Data Documentation

std::vector<ModelPtr> gazebo::physics::Model::attachedModels

protected

used by Model::AttachStaticModel

std::vector<math::Pose> gazebo::physics::Model::attachedModelsOffset

protected

used by Model::AttachStaticModel

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

Model.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation