Base class for most physics classes. More...

#include <physics/physics.hh>

Inherits enable_shared_from_this< Base >.

Inherited by Entity, Joint, Road, and Shape.

Public Types
enum	EntityType { BASE = 0x00000000, ENTITY = 0x00000001, MODEL = 0x00000002, LINK = 0x00000004, COLLISION = 0x00000008, LIGHT = 0x00000010, VISUAL = 0x00000020, JOINT = 0x00000040, BALL_JOINT = 0x00000080, HINGE2_JOINT = 0x00000100, HINGE_JOINT = 0x00000200, SLIDER_JOINT = 0x00000400, SCREW_JOINT = 0x00000800, UNIVERSAL_JOINT = 0x00001000, GEARBOX_JOINT = 0x00002000, FIXED_JOINT = 0x00004000, ACTOR = 0x00008000, SHAPE = 0x00010000, BOX_SHAPE = 0x00020000, CYLINDER_SHAPE = 0x00040000, HEIGHTMAP_SHAPE = 0x00080000, MAP_SHAPE = 0x00100000, MULTIRAY_SHAPE = 0x00200000, RAY_SHAPE = 0x00400000, PLANE_SHAPE = 0x00800000, SPHERE_SHAPE = 0x01000000, MESH_SHAPE = 0x02000000, POLYLINE_SHAPE = 0x04000000, SENSOR_COLLISION = 0x10000000 }
	Unique identifiers for all entity types. More...

Public Member Functions
	Base (BasePtr _parent)
	Constructor. More...

virtual	~Base ()
	Destructor. More...

void	AddChild (BasePtr _child)
	Add a child to this entity. More...

void	AddType (EntityType _type)
	Add a type specifier. More...

virtual void	Fini ()
	Finialize the object. More...

BasePtr	GetByName (const std::string &_name)
	Get by name. More...

BasePtr	GetChild (unsigned int _i) const
	Get a child by index. More...

BasePtr	GetChild (const std::string &_name)
	Get a child by name. More...

unsigned int	GetChildCount () const
	Get the number of children. More...

uint32_t	GetId () const
	Return the ID of this entity. More...

std::string	GetName () const
	Return the name of the entity. More...

BasePtr	GetParent () const
	Get the parent. More...

int	GetParentId () const
	Return the ID of the parent. More...

bool	GetSaveable () const
	Get whether the object should be "saved", when the user selects to save the world to xml. More...

std::string	GetScopedName (bool _prependWorldName=false) const
	Return the name of this entity with the model scope model1::...::modelN::entityName. More...

virtual const sdf::ElementPtr	GetSDF ()
	Get the SDF values for the object. More...

unsigned int	GetType () const
	Get the full type definition. More...

const WorldPtr &	GetWorld () const
	Get the World this object is in. More...

bool	HasType (const EntityType &_t) const
	Returns true if this object's type definition has the given type. More...

virtual void	Init ()
	Initialize the object. More...

bool	IsSelected () const
	True if the entity is selected by the user. More...

virtual void	Load (sdf::ElementPtr _sdf)
	Load. More...

bool	operator== (const Base &_ent) const
	Returns true if the entities are the same. More...

void	Print (const std::string &_prefix)
	Print this object to screen via gzmsg. More...

virtual void	RemoveChild (unsigned int _id)
	Remove a child from this entity. More...

void	RemoveChild (const std::string &_name)
	Remove a child by name. More...

void	RemoveChild (physics::BasePtr _child)
	Remove a child by pointer. More...

void	RemoveChildren ()
	Remove all children. More...

virtual void	Reset ()
	Reset the object. More...

virtual void	Reset (Base::EntityType _resetType)
	Calls recursive Reset on one of the Base::EntityType's. More...

ignition::math::Pose3d	SDFPoseRelativeToParent () const
	Get the SDF pose of the object according to the sdf 1.6 convention. More...

virtual std::optional< sdf::SemanticPose >	SDFSemanticPose () const
	Get the SDF SemanticPose object associated with the pose of this object. More...

virtual void	SetName (const std::string &_name)
	Set the name of the entity. More...

void	SetParent (BasePtr _parent)
	Set the parent. More...

void	SetSaveable (bool _v)
	Set whether the object should be "saved", when the user selects to save the world to xml. More...

virtual bool	SetSelected (bool _show)
	Set whether this entity has been selected by the user through the gui. More...

void	SetWorld (const WorldPtr &_newWorld)
	Set the world this object belongs to. More...

std::string	TypeStr () const
	Get the string name for the entity type. More...

virtual void	Update ()
	Update the object. More...

virtual void	UpdateParameters (sdf::ElementPtr _sdf)
	Update the parameters using new sdf values. More...

common::URI	URI () const
	Return the common::URI of this entity. More...

Protected Member Functions
void	ComputeScopedName ()
	Compute the scoped name of this object based on its parents. More...

virtual void	RegisterIntrospectionItems ()
	Register items in the introspection service. More...

virtual void	UnregisterIntrospectionItems ()
	Unregister items in the introspection service. More...

Protected Attributes
Base_V	children
	Children of this entity. More...

std::vector< common::URI >	introspectionItems
	All the introspection items regsitered for this. More...

BasePtr	parent
	Parent of this entity. More...

sdf::ElementPtr	sdf
	The SDF values for this object. More...

WorldPtr	world
	Pointer to the world. More...

Detailed Description

Base class for most physics classes.

Member Enumeration Documentation

◆ EntityType

enum EntityType

Unique identifiers for all entity types.

Enumerator
BASE	Base type.
ENTITY	Entity type.
MODEL	Model type.
LINK	Link type.
COLLISION	Collision type.
LIGHT	Light type.
VISUAL	Visual type.
JOINT	Joint type.
BALL_JOINT	BallJoint type.
HINGE2_JOINT	Hing2Joint type.
HINGE_JOINT	HingeJoint type.
SLIDER_JOINT	SliderJoint type.
SCREW_JOINT	ScrewJoint type.
UNIVERSAL_JOINT	UniversalJoint type.
GEARBOX_JOINT	GearboxJoint type.
FIXED_JOINT	FixedJoint type.
ACTOR	Actor type.
SHAPE	Shape type.
BOX_SHAPE	BoxShape type.
CYLINDER_SHAPE	CylinderShape type.
HEIGHTMAP_SHAPE	HeightmapShape type.
MAP_SHAPE	MapShape type.
MULTIRAY_SHAPE	MultiRayShape type.
RAY_SHAPE	RayShape type.
PLANE_SHAPE	PlaneShape type.
SPHERE_SHAPE	SphereShape type.
MESH_SHAPE	MeshShape type.
POLYLINE_SHAPE	PolylineShape type.
SENSOR_COLLISION	Indicates a collision shape used for sensing.

Constructor & Destructor Documentation

◆ Base()

Base ( BasePtr _parent )

explicit

Constructor.

Parameters

[in] _parent Parent of this object

◆ ~Base()

virtual ~Base ( )

virtual

Destructor.

Member Function Documentation

◆ AddChild()

void AddChild ( BasePtr _child )

Add a child to this entity.

Parameters

[in] _child Child entity.

Referenced by Base::Update().

◆ AddType()

void AddType ( EntityType _type )

Add a type specifier.

Parameters

[in] _type New type to append to this objects type definition.

Referenced by Base::Update().

◆ ComputeScopedName()

void ComputeScopedName ( )

protected

Compute the scoped name of this object based on its parents.

See also: Base::GetScopedName

Referenced by Base::Update().

◆ Fini()

virtual void Fini ( )

virtual

Finialize the object.

Reimplemented in Actor, Joint, Model, Link, Entity, DARTModel, ODEJoint, Road, DARTCollision, DARTLink, BulletJoint, ODECollision, SimbodyLink, BulletLink, ODELink, and Collision.

◆ GetByName()

BasePtr GetByName ( const std::string & _name )

Get by name.

Parameters

[in] _name Get a child (or self) object by name

Returns: A pointer to the object, NULL if not found

Referenced by Base::Update().

◆ GetChild() [1/2]

BasePtr GetChild ( unsigned int _i ) const

Get a child by index.

Parameters

[in] _i Index of the child to retreive.

Returns: A pointer to the object, NULL if the index is invalid.

Referenced by Base::Update().

◆ GetChild() [2/2]

BasePtr GetChild ( const std::string & _name )

Get a child by name.

Parameters

[in] _name Name of the child.

Returns: A pointer to the object, NULL if not found

◆ GetChildCount()

unsigned int GetChildCount ( ) const

Get the number of children.

Returns: The number of children.

Referenced by Base::Update().

◆ GetId()

uint32_t GetId ( ) const

Return the ID of this entity.

This id is unique.

Returns: Integer ID.

Referenced by Base::Update().

◆ GetName()

std::string GetName ( ) const

Return the name of the entity.

Returns: Name of the entity.

Referenced by Base::Update().

◆ GetParent()

BasePtr GetParent ( ) const

Get the parent.

Returns: Pointer to the parent entity.

Referenced by Base::Update().

◆ GetParentId()

int GetParentId ( ) const

Return the ID of the parent.

Returns: Integer ID.

Referenced by Base::Update().

◆ GetSaveable()

bool GetSaveable ( ) const

Get whether the object should be "saved", when the user selects to save the world to xml.

Returns: True if the object is saveable.

Referenced by Base::Update().

◆ GetScopedName()

std::string GetScopedName ( bool _prependWorldName = false ) const

Return the name of this entity with the model scope model1::...::modelN::entityName.

Parameters

[in] _prependWorldName True to prended the returned string with the world name. The result will be world::model1::...::modelN::entityName.

Returns: The scoped name.

Referenced by Base::Update().

◆ GetSDF()

virtual const sdf::ElementPtr GetSDF ( )

virtual

Get the SDF values for the object.

Returns: The SDF values for the object.

Reimplemented in Actor, and Model.

Referenced by Base::Update().

◆ GetType()

unsigned int GetType ( ) const

Get the full type definition.

Returns: The full type definition.

Referenced by Base::Update().

◆ GetWorld()

const WorldPtr& GetWorld ( ) const

Get the World this object is in.

Returns: The World this object is part of.

Referenced by Base::Update().

◆ HasType()

bool HasType ( const EntityType & _t ) const

Returns true if this object's type definition has the given type.

Parameters

[in] _t Type to check.

Returns: True if this object's type definition has the.

Referenced by Base::Update().

◆ Init()

virtual void Init ( )

inlinevirtual

Initialize the object.

Reimplemented in BulletJoint, RayShape, Joint, Actor, ScrewJoint< ODEJoint >, ScrewJoint< DARTJoint >, ScrewJoint< SimbodyJoint >, ScrewJoint< BulletJoint >, GearboxJoint< ODEJoint >, Model, UniversalJoint< ODEJoint >, UniversalJoint< DARTJoint >, UniversalJoint< SimbodyJoint >, UniversalJoint< BulletJoint >, BallJoint< ODEJoint >, BallJoint< DARTJoint >, BallJoint< SimbodyJoint >, BallJoint< BulletJoint >, Link, BulletScrewJoint, HeightmapShape, MapShape, MultiRayShape, HingeJoint< ODEJoint >, HingeJoint< DARTJoint >, HingeJoint< SimbodyJoint >, HingeJoint< BulletJoint >, Collision, DARTModel, FixedJoint< ODEJoint >, FixedJoint< DARTJoint >, FixedJoint< SimbodyJoint >, FixedJoint< BulletJoint >, DARTJoint, Road, BulletBallJoint, BulletHinge2Joint, BulletHeightmapShape, BulletUniversalJoint, DARTCollision, DARTLink, DARTHeightmapShape, ODEGearboxJoint, SimbodyLink, BulletFixedJoint, BulletHingeJoint, BulletLink, BulletSliderJoint, Light, MeshShape, Shape, DARTMeshShape, DARTScrewJoint, ODELink, DARTPolylineShape, DARTSphereShape, DARTUniversalJoint, ODEMeshShape, PlaneShape, SimbodyMeshShape, BulletMeshShape, BulletPolylineShape, DARTBallJoint, DARTCylinderShape, DARTFixedJoint, DARTHinge2Joint, DARTHingeJoint, DARTSliderJoint, ODEPolylineShape, SimbodyHeightmapShape, SimbodyModel, SimbodyPolylineShape, DARTBoxShape, DARTPlaneShape, ODEHeightmapShape, BoxShape, SphereShape, CylinderShape, and PolylineShape.

References Base::Reset().

◆ IsSelected()

bool IsSelected ( ) const

True if the entity is selected by the user.

Returns: True if the entity is selected.

Referenced by Base::Update().

◆ Load()

virtual void Load ( sdf::ElementPtr _sdf )

virtual

Load.

Parameters

[in] node Pointer to an SDF parameters

Reimplemented in Joint, Actor, Model, SimbodySliderJoint, Entity, Link, BallJoint< ODEJoint >, BallJoint< DARTJoint >, BallJoint< SimbodyJoint >, BallJoint< BulletJoint >, UniversalJoint< ODEJoint >, UniversalJoint< DARTJoint >, UniversalJoint< SimbodyJoint >, UniversalJoint< BulletJoint >, HeightmapShape, MapShape, Hinge2Joint< ODEJoint >, Hinge2Joint< DARTJoint >, Hinge2Joint< SimbodyJoint >, Hinge2Joint< BulletJoint >, ODEJoint, BulletScrewJoint, GearboxJoint< ODEJoint >, HingeJoint< ODEJoint >, HingeJoint< DARTJoint >, HingeJoint< SimbodyJoint >, HingeJoint< BulletJoint >, BulletCollision, Collision, DARTModel, ScrewJoint< ODEJoint >, ScrewJoint< DARTJoint >, ScrewJoint< SimbodyJoint >, ScrewJoint< BulletJoint >, DARTJoint, Road, SliderJoint< ODEJoint >, SliderJoint< DARTJoint >, SliderJoint< SimbodyJoint >, SliderJoint< BulletJoint >, BulletBallJoint, BulletHinge2Joint, BulletJoint, ODECollision, SimbodyCollision, FixedJoint< ODEJoint >, FixedJoint< DARTJoint >, FixedJoint< SimbodyJoint >, FixedJoint< BulletJoint >, BulletUniversalJoint, DARTCollision, DARTLink, ODEHinge2Joint, ODEHingeJoint, ODESliderJoint, SimbodyFixedJoint, SimbodyUniversalJoint, ODEGearboxJoint, SimbodyLink, SimbodyScrewJoint, BulletFixedJoint, BulletHingeJoint, BulletLink, BulletSliderJoint, Light, SimbodyHinge2Joint, SimbodyHingeJoint, SimbodyJoint, DARTMeshShape, DARTScrewJoint, ODELink, DARTPolylineShape, DARTUniversalJoint, ODEFixedJoint, ODEMeshShape, ODEScrewJoint, SimbodyBallJoint, SimbodyMeshShape, BulletMeshShape, BulletPolylineShape, DARTBallJoint, DARTFixedJoint, DARTHinge2Joint, DARTHingeJoint, DARTSliderJoint, ODEPolylineShape, SimbodyModel, and SimbodyPolylineShape.

◆ operator==()

bool operator== ( const Base & _ent ) const

Returns true if the entities are the same.

Checks only the name.

Parameters

[in] _ent Base object to compare with.

Returns: True if the entities are the same.

Referenced by Base::Update().

◆ Print()

void Print ( const std::string & _prefix )

Print this object to screen via gzmsg.

Parameters

[in] _prefix Usually a set of spaces.

Referenced by Base::Update().

◆ RegisterIntrospectionItems()

virtual void RegisterIntrospectionItems ( )

protectedvirtual

Register items in the introspection service.

Reimplemented in Link, Joint, and Model.

Referenced by Base::Update().

◆ RemoveChild() [1/3]

virtual void RemoveChild ( unsigned int _id )

virtual

Remove a child from this entity.

Parameters

[in] _id ID of the child to remove.

Referenced by Link::GetKinematic(), and Base::Update().

◆ RemoveChild() [2/3]

void RemoveChild ( const std::string & _name )

Remove a child by name.

Parameters

[in] _name Name of the child.

◆ RemoveChild() [3/3]

void RemoveChild ( physics::BasePtr _child )

Remove a child by pointer.

Parameters

[in] _child Pointer to the child.

◆ RemoveChildren()

void RemoveChildren ( )

Remove all children.

Referenced by Base::Update().

◆ Reset() [1/2]

virtual void Reset ( )

virtual

Reset the object.

Reimplemented in Actor, Joint, Model, Link, Entity, ODEJoint, DARTJoint, BulletJoint, and SimbodyJoint.

Referenced by Base::Init().

◆ Reset() [2/2]

virtual void Reset ( Base::EntityType _resetType )

virtual

Calls recursive Reset on one of the Base::EntityType's.

Parameters

[in] _resetType The type of reset operation

◆ SDFPoseRelativeToParent()

ignition::math::Pose3d SDFPoseRelativeToParent ( ) const

Get the SDF pose of the object according to the sdf 1.6 convention.

This convention is that the pose of an element is relative to its parent XML element, except for joints, whose pose is relative to the child link.

Returns: The pose of the object resolved according to the sdf 1.6 convention

Referenced by Base::Update().

◆ SDFSemanticPose()

virtual std::optional<sdf::SemanticPose> SDFSemanticPose ( ) const

virtual

Get the SDF SemanticPose object associated with the pose of this object.

Objects that support frame semantics need to override this function and provide this function.

Reimplemented in Link, Joint, Model, Collision, and Light.

Referenced by Base::Update().

◆ SetName()

virtual void SetName ( const std::string & _name )

virtual

Set the name of the entity.

Parameters

[in] _name New name.

Reimplemented in Entity, and DARTJoint.

Referenced by Base::Update().

◆ SetParent()

void SetParent ( BasePtr _parent )

Set the parent.

Parameters

[in] _parent Parent object.

Referenced by Base::Update().

◆ SetSaveable()

void SetSaveable ( bool _v )

Set whether the object should be "saved", when the user selects to save the world to xml.

Parameters

[in] _v Set to True if the object should be saved.

Referenced by Base::Update().

◆ SetSelected()

virtual bool SetSelected ( bool _show )

virtual

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

Parameters

[in] _show True to set this entity as selected.

Reimplemented in Link.

Referenced by Base::Update().

◆ SetWorld()

void SetWorld ( const WorldPtr & _newWorld )

Set the world this object belongs to.

This will also set the world for all children.

Parameters

[in] _newWorld The new World this object is part of.

Referenced by Base::Update().

◆ TypeStr()

std::string TypeStr ( ) const

Get the string name for the entity type.

Returns: The string name for this entity.

Referenced by Base::Update().

◆ UnregisterIntrospectionItems()

virtual void UnregisterIntrospectionItems ( )

protectedvirtual

Unregister items in the introspection service.

Referenced by Base::Update().

◆ Update()

virtual void Update ( )

inlinevirtual

Update the object.

Reimplemented in MultiRayShape, Actor, Joint, RayShape, Model, DARTModel, MapShape, DARTRayShape, ODERayShape, DARTMeshShape, ODEMeshShape, ODEPolylineShape, SimbodyRayShape, BulletRayShape, and MeshShape.

References Base::AddChild(), Base::AddType(), Base::ComputeScopedName(), Base::GetByName(), Base::GetChild(), Base::GetChildCount(), Base::GetId(), Base::GetName(), Base::GetParent(), Base::GetParentId(), Base::GetSaveable(), Base::GetScopedName(), Base::GetSDF(), Base::GetType(), Base::GetWorld(), Base::HasType(), Base::IsSelected(), Base::operator==(), Base::Print(), Base::RegisterIntrospectionItems(), Base::RemoveChild(), Base::RemoveChildren(), Base::SDFPoseRelativeToParent(), Base::SDFSemanticPose(), Base::SetName(), Base::SetParent(), Base::SetSaveable(), Base::SetSelected(), Base::SetWorld(), Base::TypeStr(), Base::UnregisterIntrospectionItems(), Base::UpdateParameters(), and Base::URI().

◆ UpdateParameters()

virtual void UpdateParameters ( sdf::ElementPtr _sdf )

virtual

Update the parameters using new sdf values.

Parameters

[in] _sdf Update the object's parameters based on SDF values.

Reimplemented in Actor, Joint, Model, Link, Entity, and Collision.

Referenced by Base::Update().

◆ URI()

common::URI URI ( ) const

Return the common::URI of this entity.

The URI includes the world where the entity is contained and all the hierarchy of sub-entities that can compose this entity. E.g.: A link entity contains the name of the link and the model where the link is contained.

Returns: The URI of this entity.

Referenced by Base::Update().

Member Data Documentation

◆ children

Base_V children

protected

Children of this entity.

◆ introspectionItems

std::vector<common::URI> introspectionItems

protected

All the introspection items regsitered for this.

◆ parent

BasePtr parent

protected

Parent of this entity.

◆ sdf

sdf::ElementPtr sdf

protected

The SDF values for this object.

◆ world

WorldPtr world

protected

Pointer to the world.

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

Base.hh

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ EntityType

Constructor & Destructor Documentation

◆ Base()

◆ ~Base()

Member Function Documentation

◆ AddChild()

◆ AddType()

◆ ComputeScopedName()

◆ Fini()

◆ GetByName()

◆ GetChild() [1/2]

◆ GetChild() [2/2]

◆ GetChildCount()

◆ GetId()

◆ GetName()

◆ GetParent()

◆ GetParentId()

◆ GetSaveable()

◆ GetScopedName()

◆ GetSDF()

◆ GetType()

◆ GetWorld()

◆ HasType()

◆ Init()

◆ IsSelected()

◆ Load()

◆ operator==()

◆ Print()

◆ RegisterIntrospectionItems()

◆ RemoveChild() [1/3]

◆ RemoveChild() [2/3]

◆ RemoveChild() [3/3]

◆ RemoveChildren()

◆ Reset() [1/2]

◆ Reset() [2/2]

◆ SDFPoseRelativeToParent()

◆ SDFSemanticPose()

◆ SetName()

◆ SetParent()

◆ SetSaveable()

◆ SetSelected()

◆ SetWorld()

◆ TypeStr()

◆ UnregisterIntrospectionItems()

◆ Update()

◆ UpdateParameters()

◆ URI()

Member Data Documentation

◆ children

◆ introspectionItems

◆ parent

◆ sdf

◆ world