gazebo::physics::WorldState Class Reference

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

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::WorldState:

Public Member Functions
	WorldState ()
	Default constructor.
	WorldState (const WorldPtr _world)
	Constructor.
	WorldState (const sdf::ElementPtr _sdf)
	Constructor.
virtual	~WorldState ()
	Destructor.
void	FillSDF (sdf::ElementPtr _sdf)
	Populate a state SDF element with data from the object.
ModelState	GetModelState (unsigned int _index) const
	Get a model state.
ModelState	GetModelState (const std::string &_modelName) const
	Get a model state by model name.
unsigned int	GetModelStateCount () const
	Get the number of model states.
const std::vector< ModelState > &	GetModelStates () const
	Get the model states.
bool	HasModelState (const std::string &_modelName) const
	Return true if WorldState has a ModelState with the given name.
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.
WorldState	operator+ (const WorldState &_state) const
	Addition operator.
WorldState	operator- (const WorldState &_state) const
	Subtraction operator.
WorldState &	operator= (const WorldState &_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::WorldState &_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::World object.

Instances of this class contain the state of a World at a specific time. World state includes the state of all models, and their children.

Constructor & Destructor Documentation

gazebo::physics::WorldState::WorldState

(

)

Default constructor.

gazebo::physics::WorldState::WorldState ( const WorldPtr  _world )

explicit

Constructor.

Generate a WorldState from an instance of a World.

Parameters

[in]

_world

Pointer to a world

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

explicit

Constructor.

Build a WorldState from SDF data

Parameters

[in]

_sdf

SDF data to load a world state from.

virtual gazebo::physics::WorldState::~WorldState ( )

virtual

Destructor.

Member Function Documentation

void gazebo::physics::WorldState::FillSDF

(

sdf::ElementPtr

_sdf

)

Populate a state SDF element with data from the object.

Parameters

[out]

_sdf

SDF element to populate.

ModelState gazebo::physics::WorldState::GetModelState

(

unsigned int

_index

)

const

Get a model state.

Get the state of a Model based on an index. The min index is and the max is WorldState::GetModelStateCount().

Parameters

[in]

_index

Index of the model.

Returns

State of the requested Model.

ModelState gazebo::physics::WorldState::GetModelState

(

const std::string &

_modelName

)

const

Get a model state by model name.

Parameters

[in]

_modelName

Name of the model state to get.

Returns

The model state.

Exceptions

common::Exception

When the _modelName doesn't exist.

unsigned int gazebo::physics::WorldState::GetModelStateCount

(

)

const

Get the number of model states.

Returns the number of models in this instance.

Returns

Number of models.

const std::vector<ModelState>& gazebo::physics::WorldState::GetModelStates

(

)

const

Get the model states.

Returns

A vector of model states.

bool gazebo::physics::WorldState::HasModelState

(

const std::string &

_modelName

)

const

Return true if WorldState has a ModelState with the given name.

Parameters

[in]

_modelName

Name of the model to search for.

Returns

True if the ModelState exists.

bool gazebo::physics::WorldState::IsZero

(

)

const

Return true if the values in the state are zero.

This will check to see if the all model states are zero.

Returns

True if the values in the state are zero.

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

virtual

Load state from SDF element.

Set a WorldState from an SDF element containing WorldState info.

Parameters

[in]

_elem

Pointer to the WorldState SDF element.

Reimplemented from gazebo::physics::State.

WorldState gazebo::physics::WorldState::operator+

(

const WorldState &

_state

)

const

Addition operator.

Parameters

[in]

_pt

A state to add.

Returns

The resulting state.

WorldState gazebo::physics::WorldState::operator-

(

const WorldState &

_state

)

const

Subtraction operator.

Parameters

[in]

_pt

A state to substract.

Returns

The resulting state.

WorldState& gazebo::physics::WorldState::operator=

(

const WorldState &

_state

)

Assignment operator.

Parameters

[in]

_state

State value

Returns

Reference to this

Friends And Related Function Documentation

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

friend

Stream insertion operator.

Parameters

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

Returns

the stream

---

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

• WorldState.hh