17 #ifndef GAZEBO_PHYSICS_LINK_HH_ 18 #define GAZEBO_PHYSICS_LINK_HH_ 29 #include <ignition/math/Matrix3.hh> 65 public:
virtual ~
Link();
69 public:
virtual void Load(sdf::ElementPtr _sdf);
72 public:
virtual void Init();
82 public:
void ResetPhysicsStates();
86 public:
virtual void UpdateParameters(sdf::ElementPtr _sdf);
95 public:
void SetScale(
const ignition::math::Vector3d &_scale);
99 public:
virtual void SetEnabled(
bool _enable)
const = 0;
103 public:
virtual bool GetEnabled()
const = 0;
108 public:
virtual bool SetSelected(
bool _set);
112 public:
virtual void SetGravityMode(
bool _mode) = 0;
116 public:
virtual bool GetGravityMode()
const = 0;
120 public:
virtual void SetWindMode(
const bool _mode);
124 public:
virtual bool WindMode()
const;
130 public:
virtual void SetSelfCollide(
bool _collide) = 0;
140 public:
void SetCollideMode(
const std::string &_mode);
149 public:
bool GetSelfCollide()
const;
153 public:
void SetLaserRetro(
float _retro);
157 public:
virtual void SetLinearVel(
158 const ignition::math::Vector3d &_vel) = 0;
162 public:
virtual void SetAngularVel(
163 const ignition::math::Vector3d &_vel) = 0;
167 public:
virtual void SetForce(
168 const ignition::math::Vector3d &_force) = 0;
172 public:
virtual void SetTorque(
173 const ignition::math::Vector3d &_torque) = 0;
177 public:
virtual void AddForce(
const ignition::math::Vector3d &_force) = 0;
182 public:
virtual void AddRelativeForce(
183 const ignition::math::Vector3d &_force) = 0;
188 public:
virtual void AddForceAtWorldPosition(
189 const ignition::math::Vector3d &_force,
190 const ignition::math::Vector3d &_pos) = 0;
200 public:
virtual void AddForceAtRelativePosition(
201 const ignition::math::Vector3d &_force,
202 const ignition::math::Vector3d &_relPos) = 0;
210 public:
virtual void AddLinkForce(
211 const ignition::math::Vector3d &_force,
212 const ignition::math::Vector3d &_offset =
213 ignition::math::Vector3d::Zero) = 0;
217 public:
virtual void AddTorque(
218 const ignition::math::Vector3d &_torque) = 0;
223 public:
virtual void AddRelativeTorque(
224 const ignition::math::Vector3d &_torque) = 0;
230 public: ignition::math::Pose3d WorldCoGPose()
const;
235 public:
virtual ignition::math::Vector3d WorldLinearVel()
const;
244 public:
virtual ignition::math::Vector3d WorldLinearVel(
245 const ignition::math::Vector3d &_offset)
const = 0;
254 public:
virtual ignition::math::Vector3d WorldLinearVel(
255 const ignition::math::Vector3d &_offset,
256 const ignition::math::Quaterniond &_q)
const = 0;
262 public:
virtual ignition::math::Vector3d WorldCoGLinearVel()
const = 0;
266 public: ignition::math::Vector3d RelativeLinearVel()
const;
270 public: ignition::math::Vector3d RelativeAngularVel()
const;
274 public: ignition::math::Vector3d RelativeLinearAccel()
const;
278 public: ignition::math::Vector3d WorldLinearAccel()
const;
282 public: ignition::math::Vector3d RelativeAngularAccel()
const;
289 public: ignition::math::Vector3d WorldAngularMomentum()
const;
298 public: ignition::math::Vector3d WorldAngularAccel()
const;
302 public: ignition::math::Vector3d RelativeForce()
const;
306 public:
virtual ignition::math::Vector3d WorldForce()
const = 0;
310 public: ignition::math::Vector3d RelativeTorque()
const;
315 public:
virtual ignition::math::Vector3d WorldTorque()
const = 0;
327 public:
void SetInertial(
const InertialPtr &_inertial);
334 public: ignition::math::Pose3d WorldInertialPose()
const;
339 public: ignition::math::Matrix3d WorldInertiaMatrix()
const;
346 public:
CollisionPtr GetCollisionById(
unsigned int _id)
const;
352 public:
CollisionPtr GetCollision(
const std::string &_name);
357 public:
CollisionPtr GetCollision(
unsigned int _index)
const;
366 public:
virtual ignition::math::Box BoundingBox()
const;
370 public:
virtual void SetLinearDamping(
double _damping) = 0;
374 public:
virtual void SetAngularDamping(
double _damping) = 0;
378 public:
double GetLinearDamping()
const;
382 public:
double GetAngularDamping()
const;
387 public:
virtual void SetKinematic(
const bool &_kinematic);
400 public:
unsigned int GetSensorCount()
const;
413 public: std::string GetSensorName(
unsigned int _index)
const;
419 std::function<
void (
bool)> _subscriber);
423 public:
void FillMsg(msgs::Link &_msg);
427 public:
void ProcessMsg(
const msgs::Link &_msg);
431 public:
void AddChildJoint(
JointPtr _joint);
435 public:
void AddParentJoint(
JointPtr _joint);
439 public:
void RemoveParentJoint(
const std::string &_jointName);
443 public:
void RemoveChildJoint(
const std::string &_jointName);
446 public:
virtual void RemoveChild(
EntityPtr _child);
452 public:
void AttachStaticModel(
ModelPtr &_model,
453 const ignition::math::Pose3d &_offset);
457 public:
void DetachStaticModel(
const std::string &_modelName);
460 public:
void DetachAllStaticModels();
464 public:
virtual void OnPoseChange();
468 public:
void SetState(
const LinkState &_state);
478 public:
virtual void SetAutoDisable(
bool _disable) = 0;
482 public:
Link_V GetChildJointsLinks()
const;
486 public:
Link_V GetParentJointsLinks()
const;
490 public:
void SetPublishData(
bool _enable);
493 public:
Joint_V GetParentJoints()
const;
496 public:
Joint_V GetChildJoints()
const;
500 public:
void RemoveCollision(
const std::string &_name);
505 public:
double GetWorldEnergyPotential()
const;
510 public:
double GetWorldEnergyKinetic()
const;
516 public:
double GetWorldEnergy()
const;
521 public: msgs::Visual GetVisualMessage(
const std::string &_name)
const;
526 public:
virtual void SetLinkStatic(
bool _static) = 0;
529 public:
virtual void SetStatic(
const bool &_static);
542 public:
void MoveFrame(
543 const ignition::math::Pose3d &_worldReferenceFrameSrc,
544 const ignition::math::Pose3d &_worldReferenceFrameDst,
545 const bool _preserveWorldVelocity =
false);
561 public:
bool FindAllConnectedLinksHelper(
562 const LinkPtr &_originalParentLink,
563 Link_V &_connectedLinks,
bool _fistLink =
false);
567 public:
void SetWindEnabled(
const bool _enable);
572 public:
const ignition::math::Vector3d WorldWindLinearVel()
const;
576 public:
const ignition::math::Vector3d RelativeWindLinearVel()
const;
594 public:
size_t BatteryCount()
const;
600 public:
bool VisualId(
const std::string &_visName, uint32_t &_visualId)
607 public:
bool VisualPose(
const uint32_t _id,
608 ignition::math::Pose3d &_pose)
const;
614 public:
bool SetVisualPose(
const uint32_t _id,
615 const ignition::math::Pose3d &_pose);
623 public:
const Visuals_M &Visuals()
const;
626 private:
void PublishData();
630 private:
void LoadCollision(sdf::ElementPtr _sdf);
634 private:
void LoadLight(sdf::ElementPtr _sdf);
638 private:
void SetInertialFromCollisions();
642 private:
void OnCollision(ConstContactsPtr &_msg);
645 private:
void ParseVisuals();
651 private:
bool ContainsLink(
const Link_V &_vector,
const LinkPtr &_value);
655 private:
void UpdateVisualGeomSDF(
const ignition::math::Vector3d &_scale);
658 private:
void UpdateVisualMsg();
663 private:
void OnWrenchMsg(ConstWrenchPtr &_msg);
667 private:
void ProcessWrenchMsg(
const msgs::Wrench &_msg);
671 private:
void LoadBattery(
const sdf::ElementPtr _sdf);
674 protected:
virtual void RegisterIntrospectionItems();
686 protected:
bool initialized =
false;
689 private: std::unique_ptr<LinkPrivate> dataPtr;
virtual void UpdateMass()
Update the mass matrix.
Definition: Link.hh:471
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
Forward declarations for the common classes.
Definition: Animation.hh:26
virtual bool GetKinematic() const
Implement this function.
Definition: Link.hh:392
std::vector< ignition::math::Pose3d > attachedModelsOffset
Offsets for the attached models.
Definition: Link.hh:683
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:117
virtual void Update()
Update the object.
Definition: Base.hh:171
virtual void RemoveChild(unsigned int _id)
Remove a child from this entity.
Link class defines a rigid body entity, containing information on inertia, visual and collision prope...
Definition: Link.hh:58
Information for use in an update event.
Definition: UpdateInfo.hh:30
void SetStatic(const bool &_static)
Set whether this entity is static: immovable.
Visuals_M visuals
Link visual elements.
Definition: Link.hh:680
std::map< uint32_t, msgs::Visual > Visuals_M
Definition: Link.hh:619
virtual void UpdateSurface()
Update surface parameters.
Definition: Link.hh:474
std::vector< JointPtr > Joint_V
Definition: PhysicsTypes.hh:213
std::vector< CollisionPtr > Collision_V
Definition: PhysicsTypes.hh:229
std::shared_ptr< Battery > BatteryPtr
Definition: CommonTypes.hh:125
boost::shared_ptr< Inertial > InertialPtr
Definition: PhysicsTypes.hh:157
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
Base class for all physics objects in Gazebo.
Definition: Entity.hh:52
boost::shared_ptr< Entity > EntityPtr
Definition: PhysicsTypes.hh:85
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
virtual void Reset()
Reset the entity.
std::vector< LinkPtr > Link_V
Definition: PhysicsTypes.hh:225
InertialPtr GetInertial() const
Get the inertia of the link.
Definition: Link.hh:323
Store state information of a physics::Link object.
Definition: LinkState.hh:47
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:113
InertialPtr inertial
Inertial properties.
Definition: Link.hh:677