Model.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
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13  * See the License for the specific language governing permissions and
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15  *
16 */
17 #ifndef GAZEBO_PHYSICS_MODEL_HH_
18 #define GAZEBO_PHYSICS_MODEL_HH_
19 
20 #include <string>
21 #include <map>
22 #include <mutex>
23 #include <vector>
24 #include <boost/function.hpp>
25 #include <boost/thread/recursive_mutex.hpp>
26 
30 #include "gazebo/physics/Entity.hh"
32 #include "gazebo/util/system.hh"
33 
34 namespace boost
35 {
36  class recursive_mutex;
37 }
38 
39 // Forward declare reference and pointer parameters
40 namespace ignition
41 {
42  namespace msgs
43  {
44  class Plugin_V;
45  }
46 }
47 
48 namespace gazebo
49 {
50  namespace physics
51  {
52  class Gripper;
53 
56 
59  class GZ_PHYSICS_VISIBLE Model : public Entity
60  {
63  public: explicit Model(BasePtr _parent);
64 
66  public: virtual ~Model();
67 
70  public: void Load(sdf::ElementPtr _sdf);
71 
73  public: void LoadJoints();
74 
76  public: virtual void Init();
77 
79  public: void Update();
80 
82  public: virtual void Fini();
83 
86  public: virtual void UpdateParameters(sdf::ElementPtr _sdf);
87 
90  public: virtual const sdf::ElementPtr GetSDF();
91 
97  public: virtual const sdf::ElementPtr UnscaledSDF();
98 
101  public: virtual void RemoveChild(EntityPtr _child);
102  using Base::RemoveChild;
103 
105  public: void Reset();
106  using Entity::Reset;
107 
110  public: void ResetPhysicsStates();
111 
114  public: void SetLinearVel(const ignition::math::Vector3d &_vel);
115 
118  public: void SetAngularVel(const ignition::math::Vector3d &_vel);
119 
123  public: virtual ignition::math::Vector3d RelativeLinearVel() const;
124 
128  public: virtual ignition::math::Vector3d WorldLinearVel() const;
129 
133  public: virtual ignition::math::Vector3d RelativeAngularVel() const;
134 
138  public: virtual ignition::math::Vector3d WorldAngularVel() const;
139 
143  public: virtual ignition::math::Vector3d RelativeLinearAccel() const;
144 
148  public: virtual ignition::math::Vector3d WorldLinearAccel() const;
149 
153  public: virtual ignition::math::Vector3d RelativeAngularAccel() const;
154 
158  public: virtual ignition::math::Vector3d WorldAngularAccel() const;
159 
162  public: virtual ignition::math::Box BoundingBox() const;
163 
166  public: unsigned int GetJointCount() const;
167 
171  public: ModelPtr NestedModel(const std::string &_name) const;
172 
175  public: const Model_V &NestedModels() const;
176 
180  public: const Link_V &GetLinks() const;
181 
184  public: const Joint_V &GetJoints() const;
185 
189  public: JointPtr GetJoint(const std::string &name);
190 
195  public: LinkPtr GetLinkById(unsigned int _id) const;
197 
201  public: LinkPtr GetLink(const std::string &_name ="canonical") const;
202 
210  public: virtual bool GetSelfCollide() const;
211 
215  public: virtual void SetSelfCollide(bool _self_collide);
216 
219  public: void SetGravityMode(const bool &_value);
220 
225  public: void SetCollideMode(const std::string &_mode);
226 
229  public: void SetLaserRetro(const float _retro);
230 
233  public: virtual void FillMsg(msgs::Model &_msg);
234 
237  public: void ProcessMsg(const msgs::Model &_msg);
238 
243  public: void SetJointPosition(const std::string &_jointName,
244  double _position, int _index = 0);
245 
249  public: void SetJointPositions(
250  const std::map<std::string, double> &_jointPositions);
251 
256  public: void SetJointAnimation(
257  const std::map<std::string, common::NumericAnimationPtr> &_anims,
258  boost::function<void()> _onComplete = NULL);
259 
261  public: virtual void StopAnimation();
262 
277  public: void AttachStaticModel(ModelPtr &_model,
278  ignition::math::Pose3d _offset);
279 
283  public: void DetachStaticModel(const std::string &_model);
284 
287  public: void SetState(const ModelState &_state);
288 
294  public: void SetScale(const ignition::math::Vector3d &_scale,
295  const bool _publish = false);
296 
301  public: ignition::math::Vector3d Scale() const;
302 
305  public: void SetEnabled(bool _enabled);
306 
313  public: void SetLinkWorldPose(const ignition::math::Pose3d &_pose,
314  std::string _linkName);
315 
322  public: void SetLinkWorldPose(const ignition::math::Pose3d &_pose,
323  const LinkPtr &_link);
324 
328  public: void SetAutoDisable(bool _disable);
329 
332  public: bool GetAutoDisable() const;
333 
337  public: void LoadPlugins();
338 
341  public: unsigned int GetPluginCount() const;
342 
346  public: unsigned int GetSensorCount() const;
347 
360  public: std::vector<std::string> SensorScopedName(
361  const std::string &_name) const;
362 
365  public: JointControllerPtr GetJointController();
366 
369  public: GripperPtr GetGripper(size_t _index) const;
370 
374  public: size_t GetGripperCount() const;
375 
379  public: double GetWorldEnergyPotential() const;
380 
385  public: double GetWorldEnergyKinetic() const;
386 
391  public: double GetWorldEnergy() const;
392 
405  public: virtual gazebo::physics::JointPtr CreateJoint(
406  const std::string &_name, const std::string &_type,
407  physics::LinkPtr _parent, physics::LinkPtr _child);
408 
418  public: virtual gazebo::physics::JointPtr CreateJoint(
419  sdf::ElementPtr _sdf);
420 
424  public: virtual bool RemoveJoint(const std::string &_name);
425 
428  public: virtual void SetWindMode(const bool _mode);
429 
432  public: virtual bool WindMode() const;
433 
436  public: boost::shared_ptr<Model> shared_from_this();
437 
442  public: LinkPtr CreateLink(const std::string &_name);
443 
461  public: void PluginInfo(const common::URI &_pluginUri,
462  ignition::msgs::Plugin_V &_plugins, bool &_success);
463 
465  protected: virtual void OnPoseChange();
466 
468  protected: virtual void RegisterIntrospectionItems();
469 
471  private: void LoadLinks();
472 
474  private: void LoadModels();
475 
478  private: void LoadJoint(sdf::ElementPtr _sdf);
479 
482  private: void LoadPlugin(sdf::ElementPtr _sdf);
483 
486  private: void LoadGripper(sdf::ElementPtr _sdf);
487 
491  private: void RemoveLink(const std::string &_name);
492 
494  private: virtual void PublishScale();
495 
497  protected: std::vector<ModelPtr> attachedModels;
498 
500  protected: std::vector<ignition::math::Pose3d> attachedModelsOffset;
501 
504 
506  private: LinkPtr canonicalLink;
507 
509  private: Joint_V joints;
510 
512  private: Link_V links;
513 
515  private: Model_V models;
516 
518  private: std::vector<GripperPtr> grippers;
519 
521  private: std::vector<ModelPluginPtr> plugins;
522 
524  private: std::map<std::string, common::NumericAnimationPtr>
525  jointAnimations;
526 
528  private: boost::function<void()> onJointAnimationComplete;
529 
531  private: JointControllerPtr jointController;
532 
534  private: mutable boost::recursive_mutex updateMutex;
535 
537  private: std::mutex receiveMutex;
538  };
540  }
541 }
542 #endif
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
Definition: JointMaker.hh:44
Forward declarations for the common classes.
Definition: Animation.hh:26
std::vector< ModelPtr > Model_V
Definition: PhysicsTypes.hh:205
Forward declarations for transport.
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:49
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:117
std::vector< ignition::math::Pose3d > attachedModelsOffset
used by Model::AttachStaticModel
Definition: Model.hh:500
std::vector< ModelPtr > attachedModels
used by Model::AttachStaticModel
Definition: Model.hh:497
default namespace for gazebo
A complete URI.
Definition: URI.hh:176
A model is a collection of links, joints, and plugins.
Definition: Model.hh:59
transport::PublisherPtr jointPub
Publisher for joint info.
Definition: Model.hh:503
boost::shared_ptr< Gripper > GripperPtr
Definition: PhysicsTypes.hh:197
std::vector< JointPtr > Joint_V
Definition: PhysicsTypes.hh:213
#define NULL
Definition: CommonTypes.hh:31
Base class for all physics objects in Gazebo.
Definition: Entity.hh:52
boost::shared_ptr< Entity > EntityPtr
Definition: PhysicsTypes.hh:85
boost::shared_ptr< JointController > JointControllerPtr
Definition: PhysicsTypes.hh:121
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Store state information of a physics::Model object.
Definition: ModelState.hh:48
Definition: Model.hh:40
std::vector< LinkPtr > Link_V
Definition: PhysicsTypes.hh:225
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77