gazebo::physics::PhysicsEngine Class Reference

Base class for a physics engine. More...

#include <physics/physics.hh>

Public Member Functions
	PhysicsEngine (WorldPtr _world)
	Default constructor.
virtual	~PhysicsEngine ()
	Destructor.
virtual CollisionPtr	CreateCollision (const std::string &_shapeType, LinkPtr _link)=0
	Create a collision.
CollisionPtr	CreateCollision (const std::string &_shapeType, const std::string &_linkName)
	Create a collision.
virtual JointPtr	CreateJoint (const std::string &_type, ModelPtr _parent=ModelPtr())=0
	Create a new joint.
virtual LinkPtr	CreateLink (ModelPtr _parent)=0
	Create a new body.
virtual ShapePtr	CreateShape (const std::string &_shapeType, CollisionPtr _collision)=0
	Create a physics::Shape object.
virtual void	DebugPrint () const =0
	Debug print out of the physic engine state.
virtual void	Fini ()
	Finilize the physics engine.
virtual bool	GetAutoDisableFlag ()
	: Remove this function, and replace it with a more generic property map
ContactManager *	GetContactManager () const
	Get a pointer to the contact manger.
virtual double	GetContactMaxCorrectingVel ()
	: Remove this function, and replace it with a more generic property map.
virtual double	GetContactSurfaceLayer ()
	: Remove this function, and replace it with a more generic property map.
virtual math::Vector3	GetGravity () const
	Return the gavity vector.
virtual int	GetMaxContacts ()
	: Remove this function, and replace it with a more generic property map.
double	GetMaxStepSize () const
	Get max step size.
virtual boost::any	GetParam (std::string _key) const
	Get an parameter of the physics engine.
boost::recursive_mutex *	GetPhysicsUpdateMutex () const
	returns a pointer to the PhysicsEngine::physicsUpdateMutex.
double	GetRealTimeUpdateRate () const
	Get real time update rate.
virtual int	GetSORPGSIters ()
	: Remove this function, and replace it with a more generic property map
virtual int	GetSORPGSPreconIters ()
	: Remove this function, and replace it with a more generic property map
virtual double	GetSORPGSW ()
	: Remove this function, and replace it with a more generic property map.
virtual double	GetStepTime () GAZEBO_DEPRECATED(1.5)
	Get the simulation step time.
double	GetTargetRealTimeFactor () const
	Get target real time factor.
virtual std::string	GetType () const =0
	Return the type of the physics engine (ode|bullet).
double	GetUpdatePeriod ()
	Get the simulation update period.
double	GetUpdateRate () GAZEBO_DEPRECATED(1.5)
	Get the simulation update rate.
virtual double	GetWorldCFM ()
	: Remove this function, and replace it with a more generic property map
virtual double	GetWorldERP ()
	: Remove this function, and replace it with a more generic property map
virtual void	Init ()=0
	Initialize the physics engine.
virtual void	InitForThread ()=0
	Init the engine for threads.
virtual void	Load (sdf::ElementPtr _sdf)
	Load the physics engine.
virtual void	Reset ()
	Rest the physics engine.
virtual void	SetAutoDisableFlag (bool _autoDisable)
	: Remove this function, and replace it with a more generic property map
virtual void	SetContactMaxCorrectingVel (double _vel)
	: Remove this function, and replace it with a more generic property map
virtual void	SetContactSurfaceLayer (double _layerDepth)
	: Remove this function, and replace it with a more generic property map
virtual void	SetGravity (const gazebo::math::Vector3 &_gravity)=0
	Set the gavity vector.
virtual void	SetMaxContacts (double _maxContacts)
	: Remove this function, and replace it with a more generic property map
void	SetMaxStepSize (double _stepSize)
	Set max step size.
virtual void	SetParam (std::string _key, const boost::any &_value)
	Set a parameter of the physics engine.
void	SetRealTimeUpdateRate (double _rate)
	Set real time update rate.
virtual void	SetSeed (uint32_t _seed)=0
	Set the random number seed for the physics engine.
virtual void	SetSORPGSIters (unsigned int _iters)
	: Remove this function, and replace it with a more generic property map
virtual void	SetSORPGSPreconIters (unsigned int _iters)
	: Remove this function, and replace it with a more generic property map
virtual void	SetSORPGSW (double _w)
	: Remove this function, and replace it with a more generic property map
virtual void	SetStepTime (double _value) GAZEBO_DEPRECATED(1.5)
	Set the simulation step time.
void	SetTargetRealTimeFactor (double _factor)
	Set target real time factor.
void	SetUpdateRate (double _value) GAZEBO_DEPRECATED(1.5)
	Set the simulation update rate.
virtual void	SetWorldCFM (double _cfm)
	: Remove this function, and replace it with a more generic property map
virtual void	SetWorldERP (double _erp)
	: Remove this function, and replace it with a more generic property map
virtual void	UpdateCollision ()=0
	Update the physics engine collision.
virtual void	UpdatePhysics ()
	Update the physics engine.

Protected Member Functions
virtual void	OnPhysicsMsg (ConstPhysicsPtr &_msg)
	virtual callback for gztopic "~/physics".
virtual void	OnRequest (ConstRequestPtr &_msg)
	virtual callback for gztopic "~/request".

Protected Attributes
ContactManager *	contactManager
	Class that handles all contacts generated by the physics engine.
double	maxStepSize
	Real time update rate.
transport::NodePtr	node
	Node for communication.
transport::SubscriberPtr	physicsSub
	Subscribe to the physics topic.
boost::recursive_mutex *	physicsUpdateMutex
	Mutex to protect the update cycle.
double	realTimeUpdateRate
	Real time update rate.
transport::SubscriberPtr	requestSub
	Subscribe to the request topic.
transport::PublisherPtr	responsePub
	Response publisher.
sdf::ElementPtr	sdf
	Our SDF values.
double	targetRealTimeFactor
	Target real time factor.
WorldPtr	world
	Pointer to the world.

Detailed Description

Base class for a physics engine.

Constructor & Destructor Documentation

gazebo::physics::PhysicsEngine::PhysicsEngine ( WorldPtr  _world )

explicit

Default constructor.

Parameters

[in]

_world

Pointer to the world.

virtual gazebo::physics::PhysicsEngine::~PhysicsEngine ( )

virtual

Destructor.

Member Function Documentation

virtual CollisionPtr gazebo::physics::PhysicsEngine::CreateCollision ( const std::string &  _shapeType, LinkPtr  _link  )

pure virtual

Create a collision.

Parameters

[in]	_shapeType	Type of collision to create.
[in]	_link	Parent link.

CollisionPtr gazebo::physics::PhysicsEngine::CreateCollision	(	const std::string &	_shapeType,
		const std::string &	_linkName
	)

Create a collision.

Parameters

[in]	_shapeType	Type of collision to create.
[in]	_linkName	Name of the parent link.

virtual JointPtr gazebo::physics::PhysicsEngine::CreateJoint ( const std::string &  _type, ModelPtr  _parent = ModelPtr()  )

pure virtual

Create a new joint.

Parameters

[in]	_type	Type of joint to create.
[in]	_parent	Model parent.

virtual LinkPtr gazebo::physics::PhysicsEngine::CreateLink ( ModelPtr  _parent )

pure virtual

Create a new body.

Parameters

[in]

_parent

Parent model for the link.

virtual ShapePtr gazebo::physics::PhysicsEngine::CreateShape ( const std::string &  _shapeType, CollisionPtr  _collision  )

pure virtual

Create a physics::Shape object.

Parameters

[in]	_shapeType	Type of shape to create.
[in]	_collision	Collision parent.

virtual void gazebo::physics::PhysicsEngine::DebugPrint ( ) const

pure virtual

Debug print out of the physic engine state.

virtual void gazebo::physics::PhysicsEngine::Fini ( )

virtual

Finilize the physics engine.

virtual bool gazebo::physics::PhysicsEngine::GetAutoDisableFlag ( )

inlinevirtual

: Remove this function, and replace it with a more generic property map

access functions to set ODE parameters..

Returns

Auto disable flag.

ContactManager* gazebo::physics::PhysicsEngine::GetContactManager

(

)

const

Get a pointer to the contact manger.

Returns

Pointer to the contact manager.

virtual double gazebo::physics::PhysicsEngine::GetContactMaxCorrectingVel ( )

inlinevirtual

: Remove this function, and replace it with a more generic property map.

access functions to set ODE parameters.

Returns

Max correcting velocity.

virtual double gazebo::physics::PhysicsEngine::GetContactSurfaceLayer ( )

inlinevirtual

: Remove this function, and replace it with a more generic property map.

access functions to set ODE parameters.

Returns

Contact suerface layer depth.

virtual math::Vector3 gazebo::physics::PhysicsEngine::GetGravity ( ) const

virtual

Return the gavity vector.

Returns

The gavity vector.

virtual int gazebo::physics::PhysicsEngine::GetMaxContacts ( )

inlinevirtual

: Remove this function, and replace it with a more generic property map.

access functions to set ODE parameters.

Returns

Maximum number of allows contacts.

double gazebo::physics::PhysicsEngine::GetMaxStepSize

(

)

const

Get max step size.

Returns

Max step size.

virtual boost::any gazebo::physics::PhysicsEngine::GetParam ( std::string  _key ) const

virtual

Get an parameter of the physics engine.

Parameters

[in]

_attr

String key

Returns

The value of the parameter

boost::recursive_mutex* gazebo::physics::PhysicsEngine::GetPhysicsUpdateMutex ( ) const

inline

returns a pointer to the PhysicsEngine::physicsUpdateMutex.

Returns

Pointer to the physics mutex.

References physicsUpdateMutex.

double gazebo::physics::PhysicsEngine::GetRealTimeUpdateRate

(

)

const

Get real time update rate.

Returns

Update rate

virtual int gazebo::physics::PhysicsEngine::GetSORPGSIters ( )

inlinevirtual

: Remove this function, and replace it with a more generic property map

access functions to set ODE parameters.

Returns

SORPGS iterations.

virtual int gazebo::physics::PhysicsEngine::GetSORPGSPreconIters ( )

inlinevirtual

: Remove this function, and replace it with a more generic property map

access functions to set ODE parameters.

Returns

SORPGS precondition iterations.

virtual double gazebo::physics::PhysicsEngine::GetSORPGSW ( )

inlinevirtual

: Remove this function, and replace it with a more generic property map.

access functions to set ODE parameters

Returns

SORPGSW value.

virtual double gazebo::physics::PhysicsEngine::GetStepTime ( )

virtual

Get the simulation step time.

This funciton is deprecated, use World::GetMaxStepSize.

Returns

Simulation step time.

double gazebo::physics::PhysicsEngine::GetTargetRealTimeFactor

(

)

const

Get target real time factor.

Returns

Target real time factor

virtual std::string gazebo::physics::PhysicsEngine::GetType ( ) const

pure virtual

Return the type of the physics engine (ode|bullet).

Returns

Type of the physics engine.

double gazebo::physics::PhysicsEngine::GetUpdatePeriod

(

)

Get the simulation update period.

Returns

Simulation update period.

double gazebo::physics::PhysicsEngine::GetUpdateRate

(

)

Get the simulation update rate.

This funciton is deprecated, use PhysicsEngine::GetRealTimeUpdateRate.

Returns

Update rate.

virtual double gazebo::physics::PhysicsEngine::GetWorldCFM ( )

inlinevirtual

: Remove this function, and replace it with a more generic property map

Get World CFM.

Returns

World CFM.

virtual double gazebo::physics::PhysicsEngine::GetWorldERP ( )

inlinevirtual

: Remove this function, and replace it with a more generic property map

Get World ERP.

Returns

World ERP.

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

pure virtual

Initialize the physics engine.

virtual void gazebo::physics::PhysicsEngine::InitForThread ( )

pure virtual

Init the engine for threads.

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

virtual

Load the physics engine.

Parameters

[in]

_sdf

Pointer to the SDF parameters.

virtual void gazebo::physics::PhysicsEngine::OnPhysicsMsg ( ConstPhysicsPtr &  _msg )

protectedvirtual

virtual callback for gztopic "~/physics".

Parameters

[in]

_msg

Physics message.

virtual void gazebo::physics::PhysicsEngine::OnRequest ( ConstRequestPtr &  _msg )

protectedvirtual

virtual callback for gztopic "~/request".

Parameters

[in]

_msg

Request message.

virtual void gazebo::physics::PhysicsEngine::Reset ( )

inlinevirtual

Rest the physics engine.

virtual void gazebo::physics::PhysicsEngine::SetAutoDisableFlag ( bool  _autoDisable )

virtual

: Remove this function, and replace it with a more generic property map

Access functions to set ODE parameters.

Parameters

[in]

_autoDisable

True to enable auto disabling of bodies.

virtual void gazebo::physics::PhysicsEngine::SetContactMaxCorrectingVel ( double  _vel )

virtual

: Remove this function, and replace it with a more generic property map

Access functions to set ODE parameters.

Parameters

[in]

_vel

Max correcting velocity.

virtual void gazebo::physics::PhysicsEngine::SetContactSurfaceLayer ( double  _layerDepth )

virtual

: Remove this function, and replace it with a more generic property map

Access functions to set ODE parameters.

Parameters

[in]

_layerDepth

Surface layer depth

virtual void gazebo::physics::PhysicsEngine::SetGravity ( const gazebo::math::Vector3 &  _gravity )

pure virtual

Set the gavity vector.

Parameters

[in]

_gravity

New gravity vector.

virtual void gazebo::physics::PhysicsEngine::SetMaxContacts ( double  _maxContacts )

virtual

: Remove this function, and replace it with a more generic property map

access functions to set ODE parameters

Parameters

[in]

_maxContacts

Maximum number of contacts.

void gazebo::physics::PhysicsEngine::SetMaxStepSize

(

double

_stepSize

)

Set max step size.

Parameters

[in]

_stepSize

Max step size.

virtual void gazebo::physics::PhysicsEngine::SetParam ( std::string  _key, const boost::any &  _value  )

virtual

Set a parameter of the physics engine.

Parameters

[in]	_key	String key
[in]	_value	The value to set to

void gazebo::physics::PhysicsEngine::SetRealTimeUpdateRate

(

double

_rate

)

Set real time update rate.

Parameters

[in]

_rate

Update rate

virtual void gazebo::physics::PhysicsEngine::SetSeed ( uint32_t  _seed )

pure virtual

Set the random number seed for the physics engine.

Parameters

[in]

_seed

The random number seed.

virtual void gazebo::physics::PhysicsEngine::SetSORPGSIters ( unsigned int  _iters )

virtual

: Remove this function, and replace it with a more generic property map

Access functions to set ODE parameters.

Parameters

[in]

_iter

Number of iterations.

virtual void gazebo::physics::PhysicsEngine::SetSORPGSPreconIters ( unsigned int  _iters )

virtual

: Remove this function, and replace it with a more generic property map

Access functions to set ODE parameters.

Parameters

[in]

_iter

Number of iterations.

virtual void gazebo::physics::PhysicsEngine::SetSORPGSW ( double  _w )

virtual

: Remove this function, and replace it with a more generic property map

Access functions to set ODE parameters.

Parameters

[in]

_w

SORPGSW value.

virtual void gazebo::physics::PhysicsEngine::SetStepTime ( double  _value )

virtual

Set the simulation step time.

This funciton is deprecated, use World::SetMaxStepSize.

Parameters

[in]

_value

Value of the step time.

void gazebo::physics::PhysicsEngine::SetTargetRealTimeFactor

(

double

_factor

)

Set target real time factor.

Parameters

[in]

_factor

Target real time factor

void gazebo::physics::PhysicsEngine::SetUpdateRate

(

double

_value

)

Set the simulation update rate.

This funciton is deprecated, use PhysicsEngine::SetRealTimeUpdateRate.

Parameters

[in]

_value

Value of the update rate.

virtual void gazebo::physics::PhysicsEngine::SetWorldCFM ( double  _cfm )

virtual

: Remove this function, and replace it with a more generic property map

Access functions to set ODE parameters.

Parameters

[in]

_cfm

Constraint force mixing.

virtual void gazebo::physics::PhysicsEngine::SetWorldERP ( double  _erp )

virtual

: Remove this function, and replace it with a more generic property map

Access functions to set ODE parameters.

Parameters

[in]

_erp

Error reduction parameter.

virtual void gazebo::physics::PhysicsEngine::UpdateCollision ( )

pure virtual

Update the physics engine collision.

virtual void gazebo::physics::PhysicsEngine::UpdatePhysics ( )

inlinevirtual

Update the physics engine.

Member Data Documentation

ContactManager* gazebo::physics::PhysicsEngine::contactManager

protected

Class that handles all contacts generated by the physics engine.

double gazebo::physics::PhysicsEngine::maxStepSize

protected

Real time update rate.

transport::NodePtr gazebo::physics::PhysicsEngine::node

protected

Node for communication.

transport::SubscriberPtr gazebo::physics::PhysicsEngine::physicsSub

protected

Subscribe to the physics topic.

boost::recursive_mutex* gazebo::physics::PhysicsEngine::physicsUpdateMutex

protected

Mutex to protect the update cycle.

Referenced by GetPhysicsUpdateMutex().

double gazebo::physics::PhysicsEngine::realTimeUpdateRate

protected

Real time update rate.

transport::SubscriberPtr gazebo::physics::PhysicsEngine::requestSub

protected

Subscribe to the request topic.

transport::PublisherPtr gazebo::physics::PhysicsEngine::responsePub

protected

Response publisher.

sdf::ElementPtr gazebo::physics::PhysicsEngine::sdf

protected

Our SDF values.

double gazebo::physics::PhysicsEngine::targetRealTimeFactor

protected

Target real time factor.

WorldPtr gazebo::physics::PhysicsEngine::world

protected

Pointer to the world.

---

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

• PhysicsEngine.hh