DART specific version of MultiRayShape. More...
#include <DARTMultiRayShape.hh>
Inherits MultiRayShape.
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 | |
DARTMultiRayShape (DARTCollisionPtr _parent) | |
Constructor. More... | |
virtual | ~DARTMultiRayShape () |
Destructor. More... | |
void | AddChild (BasePtr _child) |
Add a child to this entity. More... | |
void | AddType (EntityType _type) |
Add a type specifier. More... | |
virtual double | ComputeVolume () const |
Documentation inherited. More... | |
template<typename T > | |
event::ConnectionPtr | ConnectNewLaserScans (T _subscriber) |
Connect a to the new laser scan signal. More... | |
void | FillMsg (msgs::Geometry &_msg) |
This function is not implemented. 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... | |
int | GetFiducial (unsigned int _index) |
Get detected fiducial value for a ray. More... | |
uint32_t | GetId () const |
Return the ID of this entity. More... | |
double | GetMaxRange () const |
Get the maximum range. More... | |
double | GetMinRange () const |
Get the minimum range. 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... | |
double | GetRange (unsigned int _index) |
Get detected range for a ray. More... | |
double | GetResRange () const |
Get the range resolution. More... | |
double | GetRetro (unsigned int _index) |
Get detected retro (intensity) value for a ray. More... | |
int | GetSampleCount () const |
Get the horizontal sample count. More... | |
bool | GetSaveable () const |
Get whether the object should be "saved", when the user selects to save the world to xml. More... | |
double | GetScanResolution () const |
Get the horizontal resolution. 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... | |
int | GetVerticalSampleCount () const |
Get the vertical sample count. More... | |
double | GetVerticalScanResolution () const |
Get the vertical range resolution. 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 () |
Init the shape. More... | |
bool | IsSelected () const |
True if the entity is selected by the user. More... | |
virtual void | Load (sdf::ElementPtr _sdf) |
Load. More... | |
ignition::math::Angle | MaxAngle () const |
Get the maximum angle. More... | |
ignition::math::Angle | MinAngle () const |
Get the minimum angle. 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 | ProcessMsg (const msgs::Geometry &_msg) |
This function is not implemented. More... | |
RayShapePtr | Ray (const unsigned int _rayIndex) const |
Get a pointer to a ray. More... | |
unsigned int | RayCount () const |
Get the number of rays. 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... | |
virtual ignition::math::Vector3d | Scale () const |
Get the scale of the shape. 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... | |
bool | SetRay (const unsigned int _rayIndex, const ignition::math::Vector3d &_start, const ignition::math::Vector3d &_end) |
Set the points of a ray. More... | |
void | SetSaveable (bool _v) |
Set whether the object should be "saved", when the user selects to save the world to xml. More... | |
virtual void | SetScale (const ignition::math::Vector3d &_scale) |
Set the scale of the multi ray shape. 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... | |
void | Update () |
Update the ray collisions. More... | |
virtual void | UpdateParameters (sdf::ElementPtr _sdf) |
Update the parameters using new sdf values. More... | |
virtual void | UpdateRays () |
Method for updating the rays. More... | |
common::URI | URI () const |
Return the common::URI of this entity. More... | |
ignition::math::Angle | VerticalMaxAngle () const |
Get the vertical max angle. More... | |
ignition::math::Angle | VerticalMinAngle () const |
Get the vertical min angle. More... | |
Protected Member Functions | |
void | AddRay (const ignition::math::Vector3d &_start, const ignition::math::Vector3d &_end) |
Add a ray to the collision. More... | |
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... | |
CollisionPtr | collisionParent |
This shape's collision parent. More... | |
sdf::ElementPtr | horzElem |
Horizontal SDF element pointer. More... | |
std::vector< common::URI > | introspectionItems |
All the introspection items regsitered for this. More... | |
event::EventT< void()> | newLaserScans |
New laser scans event. More... | |
ignition::math::Pose3d | offset |
Pose offset of all the rays. More... | |
BasePtr | parent |
Parent of this entity. More... | |
sdf::ElementPtr | rangeElem |
Range SDF element pointer. More... | |
sdf::ElementPtr | rayElem |
Ray SDF element pointer. More... | |
std::vector< RayShapePtr > | rays |
Ray data. More... | |
ignition::math::Vector3d | scale = ignition::math::Vector3d::One |
This shape's scale;. More... | |
sdf::ElementPtr | scanElem |
Scan SDF element pointer. More... | |
sdf::ElementPtr | sdf |
The SDF values for this object. More... | |
sdf::ElementPtr | vertElem |
Vertical SDF element pointer. More... | |
WorldPtr | world |
Pointer to the world. More... | |
DART specific version of MultiRayShape.
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inherited |
Unique identifiers for all entity types.
Enumerator | |
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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. |
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explicit |
Constructor.
[in] | _parent | Parent Collision. |
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virtual |
Destructor.
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inherited |
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protectedvirtual |
Add a ray to the collision.
[in] | _start | Start location of the ray. |
[in] | _end | End location of the ray. |
Reimplemented from MultiRayShape.
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inherited |
Add a type specifier.
[in] | _type | New type to append to this objects type definition. |
Referenced by Base::Update().
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protectedinherited |
Compute the scoped name of this object based on its parents.
Referenced by Base::Update().
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virtualinherited |
Documentation inherited.
Reimplemented from Shape.
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inlineinherited |
Connect a to the new laser scan signal.
[in] | _subscriber | Callback function. |
References MultiRayShape::AddRay(), EventT< T >::Connect(), MultiRayShape::newLaserScans, MultiRayShape::Ray(), MultiRayShape::RayCount(), MultiRayShape::SetRay(), and MultiRayShape::UpdateRays().
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virtualinherited |
This function is not implemented.
Fill a message with this shape's values.
[out] | _msg | Message that contains the shape's values. |
Implements Shape.
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virtualinherited |
Finialize the object.
Reimplemented in Actor, Joint, Model, Link, Entity, DARTModel, ODEJoint, Road, DARTCollision, DARTLink, BulletJoint, ODECollision, SimbodyLink, BulletLink, ODELink, and Collision.
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inherited |
Get by name.
[in] | _name | Get a child (or self) object by name |
Referenced by Base::Update().
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inherited |
Get a child by index.
[in] | _i | Index of the child to retreive. |
Referenced by Base::Update().
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inherited |
Get a child by name.
[in] | _name | Name of the child. |
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inherited |
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inherited |
Get detected fiducial value for a ray.
[in] | _index | Index of the ray. |
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inherited |
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inherited |
Get the maximum range.
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inherited |
Get the minimum range.
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inherited |
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inherited |
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inherited |
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inherited |
Get detected range for a ray.
[in] | _index | Index of the ray. |
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inherited |
Get the range resolution.
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inherited |
Get detected retro (intensity) value for a ray.
[in] | _index | Index of the ray. |
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inherited |
Get the horizontal sample count.
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inherited |
Get whether the object should be "saved", when the user selects to save the world to xml.
Referenced by Base::Update().
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inherited |
Get the horizontal resolution.
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inherited |
Return the name of this entity with the model scope model1::...::modelN::entityName.
[in] | _prependWorldName | True to prended the returned string with the world name. The result will be world::model1::...::modelN::entityName. |
Referenced by Base::Update().
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virtualinherited |
Get the SDF values for the object.
Reimplemented in Actor, and Model.
Referenced by Base::Update().
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inherited |
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inherited |
Get the vertical sample count.
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inherited |
Get the vertical range resolution.
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inherited |
Get the World this object is in.
Referenced by Base::Update().
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inherited |
Returns true if this object's type definition has the given type.
[in] | _t | Type to check. |
Referenced by Base::Update().
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virtualinherited |
Init the shape.
Implements Shape.
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inherited |
True if the entity is selected by the user.
Referenced by Base::Update().
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virtualinherited |
Load.
[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.
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inherited |
Get the maximum angle.
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inherited |
Get the minimum angle.
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inherited |
Returns true if the entities are the same.
Checks only the name.
[in] | _ent | Base object to compare with. |
Referenced by Base::Update().
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inherited |
Print this object to screen via gzmsg.
[in] | _prefix | Usually a set of spaces. |
Referenced by Base::Update().
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virtualinherited |
This function is not implemented.
Update the ray based on a message.
[in] | _msg | Message to update from. |
Implements Shape.
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inherited |
Get a pointer to a ray.
[in] | _rayIndex | index to the ray |
Referenced by MultiRayShape::ConnectNewLaserScans().
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inherited |
Get the number of rays.
Referenced by MultiRayShape::ConnectNewLaserScans().
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protectedvirtualinherited |
Register items in the introspection service.
Reimplemented in Link, Joint, and Model.
Referenced by Base::Update().
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virtualinherited |
Remove a child from this entity.
[in] | _id | ID of the child to remove. |
Referenced by Link::GetKinematic(), and Base::Update().
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inherited |
Remove a child by name.
[in] | _name | Name of the child. |
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inherited |
Remove a child by pointer.
[in] | _child | Pointer to the child. |
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inherited |
Remove all children.
Referenced by Base::Update().
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virtualinherited |
Reset the object.
Reimplemented in Actor, Joint, Model, Link, Entity, ODEJoint, DARTJoint, BulletJoint, and SimbodyJoint.
Referenced by Base::Init().
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virtualinherited |
Calls recursive Reset on one of the Base::EntityType's.
[in] | _resetType | The type of reset operation |
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virtualinherited |
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inherited |
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.
Referenced by Base::Update().
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virtualinherited |
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virtualinherited |
Set the name of the entity.
[in] | _name | New name. |
Reimplemented in Entity, and DARTJoint.
Referenced by Base::Update().
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inherited |
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inherited |
Set the points of a ray.
[in] | _rayIndex | Index of the ray to set. |
[in] | _start | Start of the ray. |
[in] | _end | End of the ray. |
Referenced by MultiRayShape::ConnectNewLaserScans().
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inherited |
Set whether the object should be "saved", when the user selects to save the world to xml.
[in] | _v | Set to True if the object should be saved. |
Referenced by Base::Update().
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virtualinherited |
Set the scale of the multi ray shape.
Implements Shape.
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virtualinherited |
Set whether this entity has been selected by the user through the gui.
[in] | _show | True to set this entity as selected. |
Reimplemented in Link.
Referenced by Base::Update().
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inherited |
Set the world this object belongs to.
This will also set the world for all children.
[in] | _newWorld | The new World this object is part of. |
Referenced by Base::Update().
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inherited |
Get the string name for the entity type.
Referenced by Base::Update().
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protectedvirtualinherited |
Unregister items in the introspection service.
Referenced by Base::Update().
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virtualinherited |
Update the ray collisions.
Reimplemented from Base.
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virtualinherited |
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virtual |
Method for updating the rays.
This function is normally called automatically, such as when a laser sensor is updated. Only call this function on a standalone multiray shape.
Implements MultiRayShape.
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inherited |
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.
Referenced by Base::Update().
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inherited |
Get the vertical max angle.
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inherited |
Get the vertical min angle.
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protectedinherited |
Children of this entity.
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protectedinherited |
This shape's collision parent.
Referenced by ODEPlaneShape::CreatePlane(), BulletPlaneShape::CreatePlane(), ODEPlaneShape::SetAltitude(), SimbodySphereShape::SetRadius(), ODESphereShape::SetRadius(), BulletSphereShape::SetRadius(), ODECylinderShape::SetSize(), SimbodyBoxShape::SetSize(), SimbodyCylinderShape::SetSize(), BulletCylinderShape::SetSize(), ODEBoxShape::SetSize(), and BulletBoxShape::SetSize().
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protectedinherited |
Horizontal SDF element pointer.
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protectedinherited |
All the introspection items regsitered for this.
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protectedinherited |
New laser scans event.
Referenced by MultiRayShape::ConnectNewLaserScans().
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protectedinherited |
Pose offset of all the rays.
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protectedinherited |
Parent of this entity.
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protectedinherited |
Range SDF element pointer.
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protectedinherited |
Ray SDF element pointer.
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protectedinherited |
Ray data.
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protectedinherited |
This shape's scale;.
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protectedinherited |
Scan SDF element pointer.
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protectedinherited |
The SDF values for this object.
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protectedinherited |
Vertical SDF element pointer.
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protectedinherited |
Pointer to the world.