Store state information of a physics::Collision object. More...

#include <physics/phyiscs.hh>

Inherits State.

Public Member Functions
	CollisionState ()
	Default constructor. More...

	CollisionState (const CollisionPtr _collision)
	Constructor. More...

	CollisionState (const sdf::ElementPtr _sdf)
	Constructor. More...

virtual	~CollisionState ()
	Destructor. More...

void	FillSDF (sdf::ElementPtr _sdf)
	Populate a state SDF element with data from the object. More...

uint64_t	GetIterations () const
	Get the iterations when this state was generated. More...

std::string	GetName () const
	Get the name associated with this State. More...

common::Time	GetRealTime () const
	Get the real time when this state was generated. More...

common::Time	GetSimTime () const
	Get the sim time when this state was generated. More...

common::Time	GetWallTime () const
	Get the wall time when this state was generated. More...

bool	IsZero () const
	Return true if the values in the state are zero. More...

virtual void	Load (const sdf::ElementPtr _elem)
	Load state from SDF element. More...

CollisionState	operator+ (const CollisionState &_state) const
	Addition operator. More...

State	operator- (const State &_state) const
	Subtraction operator. More...

CollisionState	operator- (const CollisionState &_state) const
	Subtraction operator. More...

CollisionState &	operator= (const CollisionState &_state)
	Assignment operator. More...

const ignition::math::Pose3d &	Pose () const
	Get the Collision pose. More...

virtual void	SetIterations (const uint64_t _iterations)
	Set the iterations when this state was generated. More...

void	SetName (const std::string &_name)
	Set the name associated with this State. More...

virtual void	SetRealTime (const common::Time &_time)
	Set the real time when this state was generated. More...

virtual void	SetSimTime (const common::Time &_time)
	Set the sim time when this state was generated. More...

virtual void	SetWallTime (const common::Time &_time)
	Set the wall time when this state was generated. More...

Protected Attributes
uint64_t	iterations = 0
	The number of simulation iterations when this state was generated. More...

std::string	name
	Name associated with this State. More...

common::Time	realTime

common::Time	simTime

common::Time	wallTime
	Times for the state data. More...

Friends
std::ostream &	operator<< (std::ostream &_out, const gazebo::physics::CollisionState &_state)
	Stream insertion operator. More...

Detailed Description

Store state information of a physics::Collision object.

This class captures the entire state of a Collision at one specific time during a simulation run.

State of a Collision is its Pose.

Constructor & Destructor Documentation

◆ CollisionState() [1/3]

CollisionState ( )

Default constructor.

◆ CollisionState() [2/3]

CollisionState ( const CollisionPtr _collision )

explicit

Constructor.

Build a CollisionState from an existing Collision.

Parameters

[in] _model Pointer to the Link from which to gather state info.

◆ CollisionState() [3/3]

CollisionState ( const sdf::ElementPtr _sdf )

explicit

Constructor.

Build a CollisionState from SDF data

Parameters

[in] _sdf SDF data to load a collision state from.

◆ ~CollisionState()

virtual ~CollisionState ( )

virtual

Destructor.

Member Function Documentation

◆ FillSDF()

void FillSDF ( sdf::ElementPtr _sdf )

Populate a state SDF element with data from the object.

Parameters

[out] _sdf SDF element to populate.

◆ GetIterations()

uint64_t GetIterations ( ) const

inherited

Get the iterations when this state was generated.

Returns: Iterations when the data was recorded

◆ GetName()

std::string GetName ( ) const

inherited

Get the name associated with this State.

Returns: Name associated with this state information. Typically a name of an Entity.

◆ GetRealTime()

common::Time GetRealTime ( ) const

inherited

Get the real time when this state was generated.

Returns: Clock time since simulation was stated.

◆ GetSimTime()

common::Time GetSimTime ( ) const

inherited

Get the sim time when this state was generated.

Returns: Simulation time when the data was recorded.

◆ GetWallTime()

common::Time GetWallTime ( ) const

inherited

Get the wall time when this state was generated.

Returns: The absolute clock time when the State data was recorded.

◆ IsZero()

bool IsZero ( ) const

Return true if the values in the state are zero.

Returns: True if the values in the state are zero.

◆ Load()

virtual void Load ( const sdf::ElementPtr _elem )

virtual

Load state from SDF element.

Load CollisionState information from stored data in and SDF::Element

Parameters

[in] _elem Pointer to the SDF::Element containing state info.

Reimplemented from State.

◆ operator+()

CollisionState operator+ ( const CollisionState & _state ) const

Addition operator.

Parameters

[in] _pt A state to add.

Returns: The resulting state.

◆ operator-() [1/2]

State operator- ( const State & _state ) const

inherited

Subtraction operator.

Parameters

[in] _pt A state to substract.

Returns: The resulting state.

◆ operator-() [2/2]

CollisionState operator- ( const CollisionState & _state ) const

Subtraction operator.

Parameters

[in] _pt A state to substract.

Returns: The resulting state.

◆ operator=()

CollisionState& operator= ( const CollisionState & _state )

Assignment operator.

Parameters

[in] _state State value

Returns: Reference to this

◆ Pose()

const ignition::math::Pose3d& Pose ( ) const

Get the Collision pose.

Returns: The pose of the CollisionState

◆ SetIterations()

virtual void SetIterations ( const uint64_t _iterations )

virtualinherited

Set the iterations when this state was generated.

Parameters

[in] _iterations Iterations when the data was recorded.

Reimplemented in ModelState, WorldState, and LinkState.

◆ SetName()

void SetName ( const std::string & _name )

inherited

Set the name associated with this State.

Parameters

[in] _name Name associated with this state information. Typically the name of an Entity.

◆ SetRealTime()

virtual void SetRealTime ( const common::Time & _time )

virtualinherited

Set the real time when this state was generated.

Parameters

[in] _time Clock time since simulation was stated.

Reimplemented in ModelState, WorldState, and LinkState.

◆ SetSimTime()

virtual void SetSimTime ( const common::Time & _time )

virtualinherited

Set the sim time when this state was generated.

Parameters

[in] _time Simulation time when the data was recorded.

Reimplemented in ModelState, WorldState, and LinkState.

◆ SetWallTime()

virtual void SetWallTime ( const common::Time & _time )

virtualinherited

Set the wall time when this state was generated.

Parameters

[in] _time The absolute clock time when the State data was recorded.

Reimplemented in ModelState, WorldState, and LinkState.

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<<	(	std::ostream &	_out,
		const gazebo::physics::CollisionState &	_state
	)

friend

Stream insertion operator.

Parameters

[in]	_out	output stream
[in]	_state	Collision state to output

Returns: the stream

Member Data Documentation

◆ iterations

uint64_t iterations = 0

protectedinherited

The number of simulation iterations when this state was generated.

◆ name

std::string name

protectedinherited

Name associated with this State.

◆ realTime

common::Time realTime

protectedinherited

◆ simTime

common::Time simTime

protectedinherited

◆ wallTime

common::Time wallTime

protectedinherited

Times for the state data.

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

CollisionState.hh

Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ CollisionState() [1/3]

◆ CollisionState() [2/3]

◆ CollisionState() [3/3]

◆ ~CollisionState()

Member Function Documentation

◆ FillSDF()

◆ GetIterations()

◆ GetName()

◆ GetRealTime()

◆ GetSimTime()

◆ GetWallTime()

◆ IsZero()

◆ Load()

◆ operator+()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator=()

◆ Pose()

◆ SetIterations()

◆ SetName()

◆ SetRealTime()

◆ SetSimTime()

◆ SetWallTime()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ iterations

◆ name

◆ realTime

◆ simTime

◆ wallTime