gazebo::physics::TrimeshShape Class Reference

Triangle mesh collision shape. More...

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::TrimeshShape:

Public Member Functions
	TrimeshShape (CollisionPtr _parent)
	Constructor.
virtual	~TrimeshShape ()
	Destructor.
void	FillMsg (msgs::Geometry &_msg)
	Populate a msgs::Geometry message with data from this shape.
std::string	GetFilename () const
	Get the filename of the mesh data.
virtual math::Vector3	GetSize () const
	Get the size of the triangle mesh.
virtual void	Init ()
	Initialize the shape.
virtual void	ProcessMsg (const msgs::Geometry &_msg)
	Update this shape from a message.
void	SetFilename (const std::string &_filename)
	Set the filename of the triangle mesh.
void	SetScale (const math::Vector3 &_scale)
	Set the scaling factor.
virtual void	Update ()
	Update the tri mesh.
Public Member Functions inherited from gazebo::physics::Shape
	Shape (CollisionPtr _parent)
	Constructor.
virtual	~Shape ()
	Destructor.
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
const common::Mesh *	mesh
	Pointer to the mesh data.
Protected Attributes inherited from gazebo::physics::Shape
CollisionPtr	collisionParent
	This shape's collision parent.
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

Triangle mesh collision shape.

Constructor & Destructor Documentation

gazebo::physics::TrimeshShape::TrimeshShape ( CollisionPtr  _parent )

explicit

Constructor.

Parameters

[in]

_parent

Parent collision.

virtual gazebo::physics::TrimeshShape::~TrimeshShape ( )

virtual

Destructor.

Member Function Documentation

void gazebo::physics::TrimeshShape::FillMsg ( msgs::Geometry &  _msg )

virtual

Populate a msgs::Geometry message with data from this shape.

Parameters

[out]

_msg

Message to fill.

Implements gazebo::physics::Shape.

std::string gazebo::physics::TrimeshShape::GetFilename

(

)

const

Get the filename of the mesh data.

Returns

The filename of the mesh data.

virtual math::Vector3 gazebo::physics::TrimeshShape::GetSize ( ) const

virtual

Get the size of the triangle mesh.

Returns

The size of the triangle mesh.

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

virtual

Initialize the shape.

Implements gazebo::physics::Shape.

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

virtual

Update this shape from a message.

Parameters

[in]

_msg

Message that contains triangle mesh info.

Implements gazebo::physics::Shape.

void gazebo::physics::TrimeshShape::SetFilename

(

const std::string &

_filename

)

Set the filename of the triangle mesh.

Parameters

[in]

_filename

Filename of the mesh file to load from.

void gazebo::physics::TrimeshShape::SetScale

(

const math::Vector3 &

_scale

)

Set the scaling factor.

Parameters

[in]

_scale

Scaling factor.

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

inlinevirtual

Update the tri mesh.

Reimplemented from gazebo::physics::Base.

Member Data Documentation

const common::Mesh* gazebo::physics::TrimeshShape::mesh

protected

Pointer to the mesh data.

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

• TrimeshShape.hh