18 #ifndef GAZEBO_PHYSICS_BASE_HH_ 19 #define GAZEBO_PHYSICS_BASE_HH_ 21 #include <boost/enable_shared_from_this.hpp> 72 class GZ_PHYSICS_VISIBLE
Base :
public boost::enable_shared_from_this<Base>
86 COLLISION = 0x00000008,
95 BALL_JOINT = 0x00000080,
97 HINGE2_JOINT = 0x00000100,
99 HINGE_JOINT = 0x00000200,
101 SLIDER_JOINT = 0x00000400,
103 SCREW_JOINT = 0x00000800,
105 UNIVERSAL_JOINT = 0x00001000,
107 GEARBOX_JOINT = 0x00002000,
109 FIXED_JOINT = 0x00004000,
117 BOX_SHAPE = 0x00020000,
119 CYLINDER_SHAPE = 0x00040000,
121 HEIGHTMAP_SHAPE = 0x00080000,
123 MAP_SHAPE = 0x00100000,
125 MULTIRAY_SHAPE = 0x00200000,
127 RAY_SHAPE = 0x00400000,
129 PLANE_SHAPE = 0x00800000,
131 SPHERE_SHAPE = 0x01000000,
133 MESH_SHAPE = 0x02000000,
135 POLYLINE_SHAPE = 0x04000000,
138 SENSOR_COLLISION = 0x10000000
146 public:
virtual ~
Base();
150 public:
virtual void Load(sdf::ElementPtr _sdf);
153 public:
virtual void Fini();
159 public:
virtual void Reset();
171 public:
virtual void UpdateParameters(sdf::ElementPtr _sdf);
175 public:
virtual void SetName(
const std::string &_name);
179 public: std::string GetName()
const;
183 public: uint32_t GetId()
const;
188 public:
void SetSaveable(
bool _v);
193 public:
bool GetSaveable()
const;
197 public:
int GetParentId()
const;
201 public:
void SetParent(
BasePtr _parent);
205 public:
BasePtr GetParent()
const;
209 public:
void AddChild(
BasePtr _child);
213 public:
virtual void RemoveChild(
unsigned int _id);
216 public:
void RemoveChildren();
220 public:
unsigned int GetChildCount()
const;
227 public:
BasePtr GetById(
unsigned int _id)
const;
233 public:
BasePtr GetByName(
const std::string &_name);
238 public:
BasePtr GetChild(
unsigned int _i)
const;
243 public:
BasePtr GetChild(
const std::string &_name);
247 public:
void RemoveChild(
const std::string &_name);
262 public:
bool HasType(
const EntityType &_t)
const;
266 public:
unsigned int GetType()
const;
270 public: std::string TypeStr()
const;
278 public: std::string GetScopedName(
bool _prependWorldName =
false)
const;
290 public:
void Print(
const std::string &_prefix);
295 public:
virtual bool SetSelected(
bool _show);
299 public:
bool IsSelected()
const;
305 public:
bool operator ==(
const Base &_ent)
const;
310 public:
void SetWorld(
const WorldPtr &_newWorld);
314 public:
const WorldPtr &GetWorld()
const;
318 public:
virtual const sdf::ElementPtr GetSDF();
323 public:
virtual std::optional<sdf::SemanticPose> SDFSemanticPose()
const;
331 public: ignition::math::Pose3d SDFPoseRelativeToParent()
const;
334 protected:
virtual void RegisterIntrospectionItems();
337 protected:
virtual void UnregisterIntrospectionItems();
342 protected:
void ComputeScopedName();
345 protected: sdf::ElementPtr
sdf;
360 private:
bool saveable;
363 private: uint32_t id;
366 private:
unsigned int type;
369 private: std::string typeStr;
372 private:
bool selected;
375 private: std::string name;
378 private: std::string scopedName;
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:90
Forward declarations for the common classes.
Definition: Animation.hh:26
static std::string EntityTypename[]
String names for the different entity types.
Definition: Base.hh:42
BasePtr parent
Parent of this entity.
Definition: Base.hh:348
virtual void Update()
Update the object.
Definition: Base.hh:166
default namespace for gazebo
A complete URI.
Definition: URI.hh:176
std::vector< common::URI > introspectionItems
All the introspection items regsitered for this.
Definition: Base.hh:357
Base class for most physics classes.
Definition: Base.hh:72
virtual void Init()
Initialize the object.
Definition: Base.hh:156
Base_V children
Children of this entity.
Definition: Base.hh:351
Base class for all physics objects in Gazebo.
Definition: Entity.hh:52
WorldPtr world
Pointer to the world.
Definition: Base.hh:354
std::vector< BasePtr > Base_V
Definition: PhysicsTypes.hh:202
EntityType
Unique identifiers for all entity types.
Definition: Base.hh:76
sdf::ElementPtr sdf
The SDF values for this object.
Definition: Base.hh:345
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:78