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gazebo::physics::WorldState Class Reference

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

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::WorldState:
Inheritance graph
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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.
 
WorldStateoperator= (const WorldState &_state)
 Assignment operator.
 
void SetWorld (const WorldPtr _world)
 Set the world.
 
- 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::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]_worldPointer to a world
gazebo::physics::WorldState::WorldState ( const sdf::ElementPtr  _sdf)
explicit

Constructor.

Build a WorldState from SDF data

Parameters
[in]_sdfSDF 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]_sdfSDF 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]_indexIndex 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]_modelNameName of the model state to get.
Returns
The model state.
Exceptions
common::ExceptionWhen 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]_modelNameName 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]_elemPointer to the WorldState SDF element.

Reimplemented from gazebo::physics::State.

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

Addition operator.

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

Subtraction operator.

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

Assignment operator.

Parameters
[in]_stateState value
Returns
Reference to this
void gazebo::physics::WorldState::SetWorld ( const WorldPtr  _world)

Set the world.

Parameters
[in]_worldPointer to the world.

Friends And Related Function Documentation

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

Stream insertion operator.

Parameters
[in]_outoutput stream
[in]_stateWorld state to output
Returns
the stream

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