gazebo::physics::CollisionState Class Reference

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

#include <physics/phyiscs.hh>

Inheritance diagram for gazebo::physics::CollisionState:

Public Member Functions
	CollisionState ()
	Default constructor.
	CollisionState (const CollisionPtr _collision)
	Constructor.
	CollisionState (const sdf::ElementPtr _sdf)
	Constructor.
virtual	~CollisionState ()
	Destructor.
void	FillSDF (sdf::ElementPtr _sdf)
	Populate a state SDF element with data from the object.
const math::Pose &	GetPose () const
	Get the Collision pose.
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.
CollisionState	operator+ (const CollisionState &_state) const
	Addition operator.
CollisionState	operator- (const CollisionState &_state) const
	Subtraction operator.
CollisionState &	operator= (const CollisionState &_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.
virtual void	SetRealTime (const common::Time &_time)
	Set the real time when this state was generated.
virtual void	SetSimTime (const common::Time &_time)
	Set the sim time when this state was generated.
virtual void	SetWallTime (const common::Time &_time)
	Set the wall time when this state was generated.

Friends
std::ostream &	operator<< (std::ostream &_out, const gazebo::physics::CollisionState &_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::Collision object.

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

State of a Collision is its Pose.

Constructor & Destructor Documentation

gazebo::physics::CollisionState::CollisionState

(

)

Default constructor.

gazebo::physics::CollisionState::CollisionState ( const CollisionPtr  _collision )

explicit

Constructor.

Build a CollisionState from an existing Collision.

Parameters

[in]

_model

Pointer to the Link from which to gather state info.

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

explicit

Constructor.

Build a CollisionState from SDF data

Parameters

[in]

_sdf

SDF data to load a collision state from.

virtual gazebo::physics::CollisionState::~CollisionState ( )

virtual

Destructor.

Member Function Documentation

void gazebo::physics::CollisionState::FillSDF

(

sdf::ElementPtr

_sdf

)

Populate a state SDF element with data from the object.

Parameters

[out]

_sdf

SDF element to populate.

const math::Pose& gazebo::physics::CollisionState::GetPose

(

)

const

Get the Collision pose.

Returns

The pose of the CollisionState

bool gazebo::physics::CollisionState::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::CollisionState::Load ( const sdf::ElementPtr  _elem )

virtual

Load state from SDF element.

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

Parameters

[in]

_elem

Pointer to the SDF::Element containing state info.

Reimplemented from gazebo::physics::State.

CollisionState gazebo::physics::CollisionState::operator+

(

const CollisionState &

_state

)

const

Addition operator.

Parameters

[in]

_pt

A state to add.

Returns

The resulting state.

CollisionState gazebo::physics::CollisionState::operator-

(

const CollisionState &

_state

)

const

Subtraction operator.

Parameters

[in]

_pt

A state to substract.

Returns

The resulting state.

CollisionState& gazebo::physics::CollisionState::operator=

(

const CollisionState &

_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::CollisionState &  _state  )

friend

Stream insertion operator.

Parameters

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

Returns

the stream

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

• CollisionState.hh