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gazebo::physics::ModelState Class Reference

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

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::ModelState:
Inheritance graph
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Public Member Functions

 ModelState ()
 Default constructor.
 
 ModelState (const ModelPtr _model)
 Constructor.
 
 ModelState (const sdf::ElementPtr _sdf)
 Constructor.
 
virtual ~ModelState ()
 Destructor.
 
void FillSDF (sdf::ElementPtr _sdf)
 Populate a state SDF element with data from the object.
 
JointState GetJointState (unsigned int _index) const
 Get a Joint state.
 
JointState GetJointState (const std::string &_jointName) const
 Get a Joint state by Joint name.
 
unsigned int GetJointStateCount () const
 Get the number of joint states.
 
const std::vector< JointState > & GetJointStates () const
 Get the joint states.
 
LinkState GetLinkState (unsigned int _index) const
 Get a link state.
 
LinkState GetLinkState (const std::string &_linkName) const
 Get a link state by Link name.
 
unsigned int GetLinkStateCount () const
 Get the number of link states.
 
const std::vector< LinkState > & GetLinkStates () const
 Get the link states.
 
const math::PoseGetPose () const
 Get the stored model pose.
 
bool HasJointState (const std::string &_jointName) const
 Return true if there is a joint with the specified name.
 
bool HasLinkState (const std::string &_linkName) const
 Return true if there is a link with the specified 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.
 
ModelState operator+ (const ModelState &_state) const
 Addition operator.
 
ModelState operator- (const ModelState &_state) const
 Subtraction operator.
 
ModelStateoperator= (const ModelState &_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.
 
Stateoperator= (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::ModelState &_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::Model object.

This class captures the entire state of a Model at one specific time during a simulation run.

State of a Model includes the state of all its child Links and Joints.

Constructor & Destructor Documentation

gazebo::physics::ModelState::ModelState ( )

Default constructor.

gazebo::physics::ModelState::ModelState ( const ModelPtr  _model)
explicit

Constructor.

Build a ModelState from an existing Model.

Parameters
[in]_modelPointer to the model from which to gather state info.
gazebo::physics::ModelState::ModelState ( const sdf::ElementPtr  _sdf)
explicit

Constructor.

Build a ModelState from SDF data

Parameters
[in]_sdfSDF data to load a model state from.
virtual gazebo::physics::ModelState::~ModelState ( )
virtual

Destructor.

Member Function Documentation

void gazebo::physics::ModelState::FillSDF ( sdf::ElementPtr  _sdf)

Populate a state SDF element with data from the object.

Parameters
[out]_sdfSDF element to populate.
JointState gazebo::physics::ModelState::GetJointState ( unsigned int  _index) const

Get a Joint state.

Return a JointState based on a index, where index is between 0...ModelState::GetJointStateCount().

Parameters
[in]_indexIndex of a JointState.
Returns
State of a Joint.
Exceptions
common::ExceptionWhen _index is out of range.
JointState gazebo::physics::ModelState::GetJointState ( const std::string &  _jointName) const

Get a Joint state by Joint name.

Searches through all JointStates. Returns the JointState with the matching name, if any.

Parameters
[in]_jointNameName of the JointState.
Returns
State of the Joint.
Exceptions
common::ExceptionWhen _jointName is invalid.
unsigned int gazebo::physics::ModelState::GetJointStateCount ( ) const

Get the number of joint states.

Returns the number of JointStates recorded.

Returns
Number of JointStates.
const std::vector<JointState>& gazebo::physics::ModelState::GetJointStates ( ) const

Get the joint states.

Returns
A vector of joint states.
LinkState gazebo::physics::ModelState::GetLinkState ( unsigned int  _index) const

Get a link state.

Get a Link State based on an index, where index is in the range of 0...ModelState::GetLinkStateCount

Parameters
[in]_indexIndex of the LinkState
Returns
State of the Link.
Exceptions
common::ExceptionWhen _index is out of range.
LinkState gazebo::physics::ModelState::GetLinkState ( const std::string &  _linkName) const

Get a link state by Link name.

Searches through all LinkStates. Returns the LinkState with the matching name, if any.

Parameters
[in]_linkNameName of the LinkState
Returns
State of the Link.
Exceptions
common::ExceptionWhen _linkName is invalid.
unsigned int gazebo::physics::ModelState::GetLinkStateCount ( ) const

Get the number of link states.

This returns the number of Links recorded.

Returns
Number of LinkState recorded.
const std::vector<LinkState>& gazebo::physics::ModelState::GetLinkStates ( ) const

Get the link states.

Returns
A vector of link states.
const math::Pose& gazebo::physics::ModelState::GetPose ( ) const

Get the stored model pose.

Returns
The math::Pose of the Model.
bool gazebo::physics::ModelState::HasJointState ( const std::string &  _jointName) const

Return true if there is a joint with the specified name.

Parameters
[in]_jointNameName of the Jointtate.
Returns
True if the joint exists in the model.
bool gazebo::physics::ModelState::HasLinkState ( const std::string &  _linkName) const

Return true if there is a link with the specified name.

Parameters
[in]_linkNameName of the LinkState.
Returns
True if the link exists in the model.
bool gazebo::physics::ModelState::IsZero ( ) const

Return true if the values in the state are zero.

Returns
True if the values in the state are zero.
virtual void gazebo::physics::ModelState::Load ( const sdf::ElementPtr  _elem)
virtual

Load state from SDF element.

Load ModelState information from stored data in and SDF::Element

Parameters
[in]_elemPointer to the SDF::Element containing state info.

Reimplemented from gazebo::physics::State.

ModelState gazebo::physics::ModelState::operator+ ( const ModelState _state) const

Addition operator.

Parameters
[in]_ptA state to substract.
Returns
The resulting state.
ModelState gazebo::physics::ModelState::operator- ( const ModelState _state) const

Subtraction operator.

Parameters
[in]_ptA state to substract.
Returns
The resulting state.
ModelState& gazebo::physics::ModelState::operator= ( const ModelState _state)

Assignment operator.

Parameters
[in]_stateState value
Returns
this

Friends And Related Function Documentation

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

Stream insertion operator.

Parameters
[in]_outoutput stream.
[in]_stateModel state to output.
Returns
The stream.

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