gazebo::physics::Link Class Reference

Link class defines a rigid body entity, containing information on inertia, visual and collision properties of a rigid body. More...

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::Link:

Public Member Functions
	Link (EntityPtr _parent)
	Constructor.
virtual	~Link ()
	Destructor.
void	AddChildJoint (JointPtr _joint)
	Joints that have this Link as a parent Link.
virtual void	AddForce (const math::Vector3 &_force)=0
	Add a force to the body.
virtual void	AddForceAtRelativePosition (const math::Vector3 &_force, const math::Vector3 &_relPos)=0
	Add a force to the body at position expressed to the body's own frame of reference.
virtual void	AddForceAtWorldPosition (const math::Vector3 &_force, const math::Vector3 &_pos)=0
	Add a force to the body using a global position.
void	AddParentJoint (JointPtr _joint)
	Joints that have this Link as a child Link.
virtual void	AddRelativeForce (const math::Vector3 &_force)=0
	Add a force to the body, components are relative to the body's own frame of reference.
virtual void	AddRelativeTorque (const math::Vector3 &_torque)=0
	Add a torque to the body, components are relative to the body's own frame of reference.
virtual void	AddTorque (const math::Vector3 &_torque)=0
	Add a torque to the body.
void	AttachStaticModel (ModelPtr &_model, const math::Pose &_offset)
	Attach a static model to this link.
template<typename T >
event::ConnectionPtr	ConnectEnabled (T _subscriber)
	Connect to the add entity signal.
void	DetachAllStaticModels ()
	Detach all static models from this link.
void	DetachStaticModel (const std::string &_modelName)
	Detach a static model from this link.
void	DisconnectEnabled (event::ConnectionPtr &_conn)
	Disconnect to the add entity signal.
void	FillMsg (msgs::Link &_msg)
	Fill a link message.
void	Fini ()
	Finalize the body.
double	GetAngularDamping () const
	Get the angular damping factor.
virtual math::Box	GetBoundingBox () const
	Get the bounding box for the link and all the child elements.
Link_V	GetChildJointsLinks () const
	Returns a vector of children Links connected by joints.
CollisionPtr	GetCollision (const std::string &_name)
	Get a child collision by name.
CollisionPtr	GetCollision (unsigned int _index) const
	Get a child collision by index.
CollisionPtr	GetCollisionById (unsigned int _id) const
	This is an internal function
Collision_V	GetCollisions () const
	Get all the child collisions.
virtual bool	GetEnabled () const =0
	Get whether this body is enabled in the physics engine.
virtual bool	GetGravityMode () const =0
	Get the gravity mode.
InertialPtr	GetInertial () const
	Get the inertia of the link.
virtual bool	GetKinematic () const
	Implement this function.
double	GetLinearDamping () const
	Get the linear damping factor.
ModelPtr	GetModel () const
	Get the model that this body belongs to.
Link_V	GetParentJointsLinks () const
	Returns a vector of parent Links connected by joints.
math::Vector3	GetRelativeAngularAccel () const
	Get the angular acceleration of the body.
math::Vector3	GetRelativeAngularVel () const
	Get the angular velocity of the body.
math::Vector3	GetRelativeForce () const
	Get the force applied to the body.
math::Vector3	GetRelativeLinearAccel () const
	Get the linear acceleration of the body.
math::Vector3	GetRelativeLinearVel () const
	Get the linear velocity of the body.
math::Vector3	GetRelativeTorque () const
	Get the torque applied to the body.
bool	GetSelfCollide ()
	Get Self-Collision Flag, if this is true, this body will collide with other bodies even if they share the same parent.
unsigned int	GetSensorCount () const
	Get sensor count.
std::string	GetSensorName (unsigned int _index) const
	Get sensor name.
math::Vector3	GetWorldAngularAccel () const
	Get the angular acceleration of the body in the world frame.
virtual math::Vector3	GetWorldCoGLinearVel () const =0
	Get the linear velocity at the body's center of gravity in the world frame.
math::Pose	GetWorldCoGPose () const
	Get the pose of the body's center of gravity in the world coordinate frame.
virtual math::Vector3	GetWorldForce () const =0
	Get the force applied to the body in the world frame.
math::Vector3	GetWorldLinearAccel () const
	Get the linear acceleration of the body in the world frame.
virtual math::Vector3	GetWorldLinearVel (const math::Vector3 &_offset=math::Vector3(0, 0, 0)) const =0
	Get the linear velocity of a point on the body in the world frame, using an offset expressed in a body-fixed frame.
virtual math::Vector3	GetWorldLinearVel (const math::Vector3 &_offset, const math::Quaternion &_q) const =0
	Get the linear velocity of a point on the body in the world frame, using an offset expressed in an arbitrary frame.
virtual math::Vector3	GetWorldTorque () const =0
	Get the torque applied to the body in the world frame.
virtual void	Init ()
	Initialize the body.
virtual void	Load (sdf::ElementPtr _sdf)
	Load the body based on an SDF element.
virtual void	OnPoseChange ()
	This function is called when the entity's (or one of its parents) pose of the parent has changed.
void	ProcessMsg (const msgs::Link &_msg)
	Update parameters from a message.
void	RemoveChildJoint (JointPtr _joint) GAZEBO_DEPRECATED(1.5)
	Remove Joints that have this Link as a parent Link.
void	RemoveChildJoint (const std::string &_jointName)
	Remove Joints that have this Link as a parent Link.
void	RemoveParentJoint (JointPtr _joint) GAZEBO_DEPRECATED(1.5)
	Remove Joints that have this Link as a child Link.
void	RemoveParentJoint (const std::string &_jointName)
	Remove Joints that have this Link as a child Link.
void	Reset ()
	Reset the link.
void	ResetPhysicsStates ()
	Reset the link.
void	SetAngularAccel (const math::Vector3 &_accel)
	Set the angular acceleration of the body.
virtual void	SetAngularDamping (double _damping)=0
	Set the angular damping factor.
virtual void	SetAngularVel (const math::Vector3 &_vel)=0
	Set the angular velocity of the body.
virtual void	SetAutoDisable (bool _disable)=0
	Allow the link to auto disable.
void	SetCollideMode (const std::string &_mode)
	Set the collide mode of the body.
virtual void	SetEnabled (bool _enable) const =0
	Set whether this body is enabled.
virtual void	SetForce (const math::Vector3 &_force)=0
	Set the force applied to the body.
virtual void	SetGravityMode (bool _mode)=0
	Set whether gravity affects this body.
void	SetInertial (const InertialPtr &_inertial)
	Set the mass of the link.
virtual void	SetKinematic (const bool &_kinematic)
	Implement this function.
void	SetLaserRetro (float _retro)
	Set the laser retro reflectiveness.
void	SetLinearAccel (const math::Vector3 &_accel)
	Set the linear acceleration of the body.
virtual void	SetLinearDamping (double _damping)=0
	Set the linear damping factor.
virtual void	SetLinearVel (const math::Vector3 &_vel)=0
	Set the linear velocity of the body.
void	SetPublishData (bool _enable)
	Enable/Disable link data publishing.
virtual bool	SetSelected (bool _set)
	Set whether this entity has been selected by the user through the gui.
virtual void	SetSelfCollide (bool _collide)=0
	Set whether this body will collide with others in the model.
void	SetState (const LinkState &_state)
	Set the current link state.
virtual void	SetTorque (const math::Vector3 &_torque)=0
	Set the torque applied to the body.
virtual void	Update ()
	Update the body.
virtual void	UpdateMass ()
	Update the mass matrix.
virtual void	UpdateParameters (sdf::ElementPtr _sdf)
	Update the parameters using new sdf values.
virtual void	UpdateSurface ()
	Update surface parameters.
Public Member Functions inherited from gazebo::physics::Entity
	Entity (BasePtr _parent)
	Constructor.
virtual	~Entity ()
	Destructor.
CollisionPtr	GetChildCollision (const std::string &_name)
	Get a child collision entity, if one exists.
LinkPtr	GetChildLink (const std::string &_name)
	Get a child linke entity, if one exists.
math::Box	GetCollisionBoundingBox () const
	Returns collision bounding box.
const math::Pose &	GetDirtyPose () const
	Returns Entity::dirtyPose.
math::Pose	GetInitialRelativePose () const
	Get the initial relative pose.
void	GetNearestEntityBelow (double &_distBelow, std::string &_entityName)
	Get the distance to the nearest entity below (along the Z-axis) this entity.
ModelPtr	GetParentModel ()
	Get the parent model, if one exists.
math::Pose	GetRelativePose () const
	Get the pose of the entity relative to its parent.
virtual math::Vector3	GetWorldAngularVel () const
	Get the angular velocity of the entity in the world frame.
virtual math::Vector3	GetWorldLinearVel () const
	Get the linear velocity of the entity in the world frame.
const math::Pose &	GetWorldPose () const
	Get the absolute pose of the entity.
bool	IsCanonicalLink () const
	A helper function that checks if this is a canonical body.
bool	IsStatic () const
	Return whether this entity is static.
void	PlaceOnEntity (const std::string &_entityName)
	Move this entity to be ontop of another entity by name.
void	PlaceOnNearestEntityBelow ()
	Move this entity to be ontop of the nearest entity below.
void	SetAnimation (const common::PoseAnimationPtr &_anim, boost::function< void()> _onComplete)
	Set an animation for this entity.
void	SetAnimation (common::PoseAnimationPtr _anim)
	Set an animation for this entity.
void	SetCanonicalLink (bool _value)
	Set to true if this entity is a canonical link for a model.
void	SetInitialRelativePose (const math::Pose &_pose)
	Set the initial pose.
virtual void	SetName (const std::string &_name)
	Set the name of the entity.
void	SetRelativePose (const math::Pose &_pose, bool _notify=true, bool _publish=true)
	Set the pose of the entity relative to its parent.
void	SetStatic (const bool &_static)
	Set whether this entity is static: immovable.
void	SetWorldPose (const math::Pose &_pose, bool _notify=true, bool _publish=true)
	Set the world pose of the entity.
void	SetWorldTwist (const math::Vector3 &_linear, const math::Vector3 &_angular, bool _updateChildren=true)
	Set angular and linear rates of an physics::Entity.
virtual void	StopAnimation ()
	Stop the current animation, if any.
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.
BasePtr	GetById (unsigned int _id) const
	This is an internal function.
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.
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 (Base::EntityType _resetType)
	Calls recursive Reset on one of the Base::EntityType's.
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.
void	SetWorld (const WorldPtr &_newWorld)
	Set the world this object belongs to.

Protected Attributes
math::Vector3	angularAccel
	Angular acceleration.
std::vector< math::Pose >	attachedModelsOffset
	Offsets for the attached models.
std::vector< std::string >	cgVisuals
	Center of gravity visual elements.
InertialPtr	inertial
	Inertial properties.
math::Vector3	linearAccel
	Linear acceleration.
std::vector< std::string >	visuals
	Link visual elements.
Protected Attributes inherited from gazebo::physics::Entity
common::PoseAnimationPtr	animation
	Current pose animation.
event::ConnectionPtr	animationConnection
	Connection used to update an animation.
math::Pose	animationStartPose
	Start pose of an animation.
std::vector< event::ConnectionPtr >	connections
	All our event connections.
math::Pose	dirtyPose
	The pose set by a physics engine.
transport::NodePtr	node
	Communication node.
EntityPtr	parentEntity
	A helper that prevents numerous dynamic_casts.
msgs::Pose *	poseMsg
	Pose message container.
common::Time	prevAnimationTime
	Previous time an animation was updated.
transport::PublisherPtr	requestPub
	Request publisher.
transport::PublisherPtr	visPub
	Visual publisher.
msgs::Visual *	visualMsg
	Visual message container.
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,   MESH_SHAPE = 0x00400000, SENSOR_COLLISION = 0x00800000 }
	Unique identifiers for all entity types. More...
Protected Member Functions inherited from gazebo::physics::Base
void	ComputeScopedName ()
	Compute the scoped name of this object based on its parents.

Detailed Description

Link class defines a rigid body entity, containing information on inertia, visual and collision properties of a rigid body.

Constructor & Destructor Documentation

gazebo::physics::Link::Link ( EntityPtr  _parent )

explicit

Constructor.

Parameters

[in]

_parent

Parent of this link.

virtual gazebo::physics::Link::~Link ( )

virtual

Destructor.

Member Function Documentation

void gazebo::physics::Link::AddChildJoint

(

JointPtr

_joint

)

Joints that have this Link as a parent Link.

Parameters

[in]

_joint

Joint that is a child of this link.

virtual void gazebo::physics::Link::AddForce ( const math::Vector3 &  _force )

pure virtual

Add a force to the body.

Parameters

[in]

_force

Force to add.

virtual void gazebo::physics::Link::AddForceAtRelativePosition ( const math::Vector3 &  _force, const math::Vector3 &  _relPos  )

pure virtual

Add a force to the body at position expressed to the body's own frame of reference.

Parameters

[in]	_force	Force to add.
[in]	_relPos	Position on the link to add the force.

virtual void gazebo::physics::Link::AddForceAtWorldPosition ( const math::Vector3 &  _force, const math::Vector3 &  _pos  )

pure virtual

Add a force to the body using a global position.

Parameters

[in]	_force	Force to add.
[in]	_pos	Position in global coord frame to add the force.

void gazebo::physics::Link::AddParentJoint

(

JointPtr

_joint

)

Joints that have this Link as a child Link.

Parameters

[in]

_joint

Joint that is a parent of this link.

virtual void gazebo::physics::Link::AddRelativeForce ( const math::Vector3 &  _force )

pure virtual

Add a force to the body, components are relative to the body's own frame of reference.

Parameters

[in]

_force

Force to add.

virtual void gazebo::physics::Link::AddRelativeTorque ( const math::Vector3 &  _torque )

pure virtual

Add a torque to the body, components are relative to the body's own frame of reference.

Parameters

[in]

_torque

Torque value to add.

virtual void gazebo::physics::Link::AddTorque ( const math::Vector3 &  _torque )

pure virtual

Add a torque to the body.

Parameters

[in]

_torque

Torque value to add to the link.

void gazebo::physics::Link::AttachStaticModel	(	ModelPtr &	_model,
		const math::Pose &	_offset
	)

Attach a static model to this link.

Parameters

[in]	_model	Pointer to a static model.
[in]	_offset	Pose relative to this link to place the model.

template<typename T >

event::ConnectionPtr gazebo::physics::Link::ConnectEnabled ( T  _subscriber )

inline

Connect to the add entity signal.

Parameters

[in]

_subscriber

Subsciber callback function.

Returns

Pointer to the connection, which must be kept in scope.

References gazebo::event::EventT< T >::Connect().

void gazebo::physics::Link::DetachAllStaticModels

(

)

Detach all static models from this link.

void gazebo::physics::Link::DetachStaticModel

(

const std::string &

_modelName

)

Detach a static model from this link.

Parameters

[in]

_modelName

Name of an attached model to detach.

void gazebo::physics::Link::DisconnectEnabled ( event::ConnectionPtr &  _conn )

inline

Disconnect to the add entity signal.

Parameters

[in]

_conn

Connection pointer to disconnect.

References gazebo::event::EventT< T >::Disconnect().

void gazebo::physics::Link::FillMsg

(

msgs::Link &

_msg

)

Fill a link message.

Parameters

[out]

_msg

Message to fill

void gazebo::physics::Link::Fini ( )

virtual

Finalize the body.

Reimplemented from gazebo::physics::Entity.

double gazebo::physics::Link::GetAngularDamping

(

)

const

Get the angular damping factor.

Returns

Angular damping.

virtual math::Box gazebo::physics::Link::GetBoundingBox ( ) const

virtual

Get the bounding box for the link and all the child elements.

Returns

The link's bounding box.

Reimplemented from gazebo::physics::Entity.

Link_V gazebo::physics::Link::GetChildJointsLinks

(

)

const

Returns a vector of children Links connected by joints.

Returns

A vector of children Links connected by joints.

CollisionPtr gazebo::physics::Link::GetCollision

(

const std::string &

_name

)

Get a child collision by name.

Parameters

[in]

_name

Name of the collision object.

Returns

Pointer to the collision, NULL if the name was not found.

CollisionPtr gazebo::physics::Link::GetCollision

(

unsigned int

_index

)

const

Get a child collision by index.

Parameters

[in]

_index

Index of the collision object.

Returns

Pointer to the collision, NULL if the name was not found.

CollisionPtr gazebo::physics::Link::GetCollisionById

(

unsigned int

_id

)

const

This is an internal function

Get a collision by id.

Parameters

[in]

_id

Id of the collision object to find.

Returns

Pointer to the collision, NULL if the id is invalid.

Collision_V gazebo::physics::Link::GetCollisions

(

)

const

Get all the child collisions.

Returns

A std::vector of all the child collisions.

virtual bool gazebo::physics::Link::GetEnabled ( ) const

pure virtual

Get whether this body is enabled in the physics engine.

Returns

True if the link is enabled.

virtual bool gazebo::physics::Link::GetGravityMode ( ) const

pure virtual

Get the gravity mode.

Returns

True if gravity is enabled.

InertialPtr gazebo::physics::Link::GetInertial ( ) const

inline

Get the inertia of the link.

Returns

Inertia of the link.

References inertial.

virtual bool gazebo::physics::Link::GetKinematic ( ) const

inlinevirtual

Implement this function.

Get whether this body is in the kinematic state.

Returns

True if the link is kinematic only.

double gazebo::physics::Link::GetLinearDamping

(

)

const

Get the linear damping factor.

Returns

Linear damping.

ModelPtr gazebo::physics::Link::GetModel

(

)

const

Get the model that this body belongs to.

Returns

Model that this body belongs to.

Link_V gazebo::physics::Link::GetParentJointsLinks

(

)

const

Returns a vector of parent Links connected by joints.

Returns

Vector of parent Links connected by joints.

math::Vector3 gazebo::physics::Link::GetRelativeAngularAccel ( ) const

virtual

Get the angular acceleration of the body.

Returns

Angular acceleration of the body.

Reimplemented from gazebo::physics::Entity.

math::Vector3 gazebo::physics::Link::GetRelativeAngularVel ( ) const

virtual

Get the angular velocity of the body.

Returns

Angular velocity of the body.

Reimplemented from gazebo::physics::Entity.

math::Vector3 gazebo::physics::Link::GetRelativeForce

(

)

const

Get the force applied to the body.

Returns

Force applied to the body.

math::Vector3 gazebo::physics::Link::GetRelativeLinearAccel ( ) const

virtual

Get the linear acceleration of the body.

Returns

Linear acceleration of the body.

Reimplemented from gazebo::physics::Entity.

math::Vector3 gazebo::physics::Link::GetRelativeLinearVel ( ) const

virtual

Get the linear velocity of the body.

Returns

Linear velocity of the body.

Reimplemented from gazebo::physics::Entity.

math::Vector3 gazebo::physics::Link::GetRelativeTorque

(

)

const

Get the torque applied to the body.

Returns

Torque applied to the body.

bool gazebo::physics::Link::GetSelfCollide

(

)

Get Self-Collision Flag, if this is true, this body will collide with other bodies even if they share the same parent.

Returns

True if self collision is enabled.

unsigned int gazebo::physics::Link::GetSensorCount

(

)

const

Get sensor count.

This will return the number of sensors created by the link when it was loaded. This function is commonly used with Link::GetSensorName.

Returns

The number of sensors created by the link.

std::string gazebo::physics::Link::GetSensorName

(

unsigned int

_index

)

const

Get sensor name.

Get the name of a sensor based on an index. The index should be in the range of 0...Link::GetSensorCount().

Note

A Link does not manage or maintain a pointer to a sensors::Sensor. Access to a Sensor object is accomplished through the sensors::SensorManager. This was done to separate the physics engine from the sensor engine.

Parameters

[in]

_index

Index of the sensor name.

Returns

The name of the sensor, or empty string if the index is out of bounds.

math::Vector3 gazebo::physics::Link::GetWorldAngularAccel ( ) const

virtual

Get the angular acceleration of the body in the world frame.

Returns

Angular acceleration of the body in the world frame.

Reimplemented from gazebo::physics::Entity.

virtual math::Vector3 gazebo::physics::Link::GetWorldCoGLinearVel ( ) const

pure virtual

Get the linear velocity at the body's center of gravity in the world frame.

Returns

Linear velocity at the body's center of gravity in the world frame.

math::Pose gazebo::physics::Link::GetWorldCoGPose

(

)

const

Get the pose of the body's center of gravity in the world coordinate frame.

Returns

Pose of the body's center of gravity in the world coordinate frame.

virtual math::Vector3 gazebo::physics::Link::GetWorldForce ( ) const

pure virtual

Get the force applied to the body in the world frame.

Returns

Force applied to the body in the world frame.

math::Vector3 gazebo::physics::Link::GetWorldLinearAccel ( ) const

virtual

Get the linear acceleration of the body in the world frame.

Returns

Linear acceleration of the body in the world frame.

Reimplemented from gazebo::physics::Entity.

virtual math::Vector3 gazebo::physics::Link::GetWorldLinearVel ( const math::Vector3 &  _offset = math::Vector3(0, 0, 0) ) const

pure virtual

Get the linear velocity of a point on the body in the world frame, using an offset expressed in a body-fixed frame.

If no offset is given, the velocity at the origin of the Link frame will be returned.

Parameters

[in]

_offset

Offset of the point from the origin of the Link frame, expressed in the body-fixed frame.

Returns

Linear velocity of the point on the body

virtual math::Vector3 gazebo::physics::Link::GetWorldLinearVel ( const math::Vector3 &  _offset, const math::Quaternion &  _q  ) const

pure virtual

Get the linear velocity of a point on the body in the world frame, using an offset expressed in an arbitrary frame.

Parameters

[in]	_offset	Offset from the origin of the link frame expressed in a frame defined by _q.
[in]	_q	Describes the rotation of a reference frame relative to the world reference frame.

Returns

Linear velocity of the point on the body in the world frame.

virtual math::Vector3 gazebo::physics::Link::GetWorldTorque ( ) const

pure virtual

Get the torque applied to the body in the world frame.

Returns

Torque applied to the body in the world frame.

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

virtual

Initialize the body.

Reimplemented from gazebo::physics::Base.

virtual void gazebo::physics::Link::Load ( sdf::ElementPtr  _sdf )

virtual

Load the body based on an SDF element.

Parameters

[in]

_sdf

SDF parameters.

Reimplemented from gazebo::physics::Entity.

virtual void gazebo::physics::Link::OnPoseChange ( )

virtual

This function is called when the entity's (or one of its parents) pose of the parent has changed.

Implements gazebo::physics::Entity.

void gazebo::physics::Link::ProcessMsg

(

const msgs::Link &

_msg

)

Update parameters from a message.

Parameters

[in]

_msg

Message to read.

void gazebo::physics::Link::RemoveChildJoint

(

JointPtr

_joint

)

Remove Joints that have this Link as a parent Link.

Parameters

[in]

_joint

Joint that is a child of this link.

void gazebo::physics::Link::RemoveChildJoint

(

const std::string &

_jointName

)

Remove Joints that have this Link as a parent Link.

Parameters

[in]

_jointName

Child Joint name.

void gazebo::physics::Link::RemoveParentJoint

(

JointPtr

_joint

)

Remove Joints that have this Link as a child Link.

Parameters

[in]

_joint

Joint that is a parent of this link.

void gazebo::physics::Link::RemoveParentJoint

(

const std::string &

_jointName

)

Remove Joints that have this Link as a child Link.

Parameters

[in]

_jointName

Parent Joint name.

void gazebo::physics::Link::Reset ( )

virtual

Reset the link.

Reimplemented from gazebo::physics::Entity.

void gazebo::physics::Link::ResetPhysicsStates

(

)

Reset the link.

void gazebo::physics::Link::SetAngularAccel

(

const math::Vector3 &

_accel

)

Set the angular acceleration of the body.

Parameters

[in]

_accel

Angular acceleration.

virtual void gazebo::physics::Link::SetAngularDamping ( double  _damping )

pure virtual

Set the angular damping factor.

Parameters

[in]

_damping

Angular damping factor.

virtual void gazebo::physics::Link::SetAngularVel ( const math::Vector3 &  _vel )

pure virtual

Set the angular velocity of the body.

Parameters

[in]

_vel

Angular velocity.

virtual void gazebo::physics::Link::SetAutoDisable ( bool  _disable )

pure virtual

Allow the link to auto disable.

Parameters

[in]

_disable

If true, the link is allowed to auto disable.

void gazebo::physics::Link::SetCollideMode

(

const std::string &

_mode

)

Set the collide mode of the body.

Parameters

[in]

_mode

Collision Mode, this can be: [all|none|sensors|fixed|ghost] all: collides with everything none: collides with nothing sensors: collides with everything else but other sensors fixed: collides with everything else but other fixed ghost: collides with everything else but other ghost

virtual void gazebo::physics::Link::SetEnabled ( bool  _enable ) const

pure virtual

Set whether this body is enabled.

Parameters

[in]

_enable

True to enable the link in the physics engine.

virtual void gazebo::physics::Link::SetForce ( const math::Vector3 &  _force )

pure virtual

Set the force applied to the body.

Parameters

[in]

_force

Force value.

virtual void gazebo::physics::Link::SetGravityMode ( bool  _mode )

pure virtual

Set whether gravity affects this body.

Parameters

[in]

_mode

True to enable gravity.

void gazebo::physics::Link::SetInertial

(

const InertialPtr &

_inertial

)

Set the mass of the link.

[in] _inertial Inertial value for the link.

virtual void gazebo::physics::Link::SetKinematic ( const bool &  _kinematic )

virtual

Implement this function.

Set whether this body is in the kinematic state.

Parameters

[in]

_kinematic

True to make the link kinematic only.

void gazebo::physics::Link::SetLaserRetro

(

float

_retro

)

Set the laser retro reflectiveness.

Parameters

[in]

_retro

Retro value for all child collisions.

void gazebo::physics::Link::SetLinearAccel

(

const math::Vector3 &

_accel

)

Set the linear acceleration of the body.

Parameters

[in]

_accel

Linear acceleration.

virtual void gazebo::physics::Link::SetLinearDamping ( double  _damping )

pure virtual

Set the linear damping factor.

Parameters

[in]

_damping

Linear damping factor.

virtual void gazebo::physics::Link::SetLinearVel ( const math::Vector3 &  _vel )

pure virtual

Set the linear velocity of the body.

Parameters

[in]

_vel

Linear velocity.

void gazebo::physics::Link::SetPublishData

(

bool

_enable

)

Enable/Disable link data publishing.

Parameters

[in]

_enable

True to enable publishing, false to stop publishing

virtual bool gazebo::physics::Link::SetSelected ( bool  _set )

virtual

Set whether this entity has been selected by the user through the gui.

Parameters

[in]

_set

True to set the link as selected.

Reimplemented from gazebo::physics::Base.

virtual void gazebo::physics::Link::SetSelfCollide ( bool  _collide )

pure virtual

Set whether this body will collide with others in the model.

Parameters

[in]

_collid

True to enable collisions.

void gazebo::physics::Link::SetState

(

const LinkState &

_state

)

Set the current link state.

Parameters

[in]

_state

The state to set the link to.

virtual void gazebo::physics::Link::SetTorque ( const math::Vector3 &  _torque )

pure virtual

Set the torque applied to the body.

Parameters

[in]

_torque

Torque value.

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

virtual

Update the body.

Reimplemented from gazebo::physics::Base.

virtual void gazebo::physics::Link::UpdateMass ( )

inlinevirtual

Update the mass matrix.

virtual void gazebo::physics::Link::UpdateParameters ( sdf::ElementPtr  _sdf )

virtual

Update the parameters using new sdf values.

Parameters

[in]

_sdf

SDF values to load from.

Reimplemented from gazebo::physics::Entity.

virtual void gazebo::physics::Link::UpdateSurface ( )

inlinevirtual

Update surface parameters.

Member Data Documentation

math::Vector3 gazebo::physics::Link::angularAccel

protected

Angular acceleration.

std::vector<math::Pose> gazebo::physics::Link::attachedModelsOffset

protected

Offsets for the attached models.

std::vector<std::string> gazebo::physics::Link::cgVisuals

protected

Center of gravity visual elements.

InertialPtr gazebo::physics::Link::inertial

protected

Inertial properties.

Referenced by GetInertial().

math::Vector3 gazebo::physics::Link::linearAccel

protected

Linear acceleration.

std::vector<std::string> gazebo::physics::Link::visuals

protected

Link visual elements.

---

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

• Link.hh