A model is a collection of links, joints, and plugins. More...

#include <physics/physics.hh>

Inherits Entity.

Inherited by Actor, DARTModel, and SimbodyModel.

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
	Model (BasePtr _parent)
	Constructor. More...

virtual	~Model ()
	Destructor. More...

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

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

void	AttachStaticModel (ModelPtr &_model, ignition::math::Pose3d _offset)
	Attach a static model to this model. More...

virtual ignition::math::AxisAlignedBox	BoundingBox () const override
	Get the size of the bounding box. More...

ignition::math::AxisAlignedBox	CollisionBoundingBox () const
	Returns collision bounding box. More...

virtual gazebo::physics::JointPtr	CreateJoint (const std::string &_name, const std::string &_type, physics::LinkPtr _parent, physics::LinkPtr _child)
	Create a joint for this model. More...

virtual gazebo::physics::JointPtr	CreateJoint (sdf::ElementPtr _sdf)
	Create a joint for this model. More...

LinkPtr	CreateLink (const std::string &_name)
	Create a new link for this model. More...

void	DetachStaticModel (const std::string &_model)
	Detach a static model from this model. More...

const ignition::math::Pose3d &	DirtyPose () const
	Returns Entity::dirtyPose. More...

virtual void	FillMsg (msgs::Model &_msg)
	Fill a model message. More...

virtual void	Fini () override
	Finalize the model. More...

bool	GetAutoDisable () const
	Return the value of the SDF <allow_auto_disable> element. 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...

CollisionPtr	GetChildCollision (const std::string &_name)
	Get a child collision entity, if one exists. More...

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

LinkPtr	GetChildLink (const std::string &_name)
	Get a child linke entity, if one exists. More...

GripperPtr	GetGripper (size_t _index) const
	Get a gripper based on an index. More...

size_t	GetGripperCount () const
	Get the number of grippers in this model. More...

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

JointPtr	GetJoint (const std::string &name)
	Get a joint. More...

JointControllerPtr	GetJointController ()
	Get a handle to the Controller for the joints in this model. More...

unsigned int	GetJointCount () const
	Get the number of joints. More...

const Joint_V &	GetJoints () const
	Get the joints. More...

LinkPtr	GetLink (const std::string &_name="canonical") const
	Get a link by name. More...

const Link_V &	GetLinks () const
	Construct and return a vector of Link's in this model Note this constructs the vector of Link's on the fly, could be costly. More...

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

void	GetNearestEntityBelow (double &_distBelow, std::string &_entityName)
	Get the distance to the nearest entity below (along the Z-axis) this entity. More...

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

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

ModelPtr	GetParentModel ()
	Get the parent model, if one exists. More...

unsigned int	GetPluginCount () const
	Get the number of plugins this model has. 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 () override
	Get the SDF values for the model. More...

const sdf::Model *	GetSDFDom () const
	Get the SDF DOM for the model. More...

virtual bool	GetSelfCollide () const
	If true, all links within the model will collide by default. More...

unsigned int	GetSensorCount () const
	Get the number of sensors attached to this model. More...

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

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

double	GetWorldEnergy () const
	Returns this model's total energy, or sum of Model::GetWorldEnergyPotential() and Model::GetWorldEnergyKinetic(). More...

double	GetWorldEnergyKinetic () const
	Returns sum of the kinetic energies of all links in this model. More...

double	GetWorldEnergyPotential () const
	Returns the potential energy of all links and joint springs in the model. More...

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

virtual void	Init () override
	Initialize the model. More...

ignition::math::Pose3d	InitialRelativePose () const
	Get the initial relative pose. More...

bool	IsCanonicalLink () const
	A helper function that checks if this is a canonical body. More...

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

bool	IsStatic () const
	Return whether this entity is static. More...

void	Load (sdf::ElementPtr _sdf) override
	Load the model. More...

void	LoadJoints ()
	Load all the joints. More...

void	LoadPlugins ()
	Load all plugins. More...

ModelPtr	NestedModel (const std::string &_name) const
	Get a nested model that is a direct child of this model. More...

const Model_V &	NestedModels () const
	Get all the nested models. More...

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

void	PlaceOnEntity (const std::string &_entityName)
	Move this entity to be ontop of another entity by name. More...

void	PlaceOnNearestEntityBelow ()
	Move this entity to be ontop of the nearest entity below. More...

void	PluginInfo (const common::URI &_pluginUri, ignition::msgs::Plugin_V &_plugins, bool &_success)
	Get information about plugins in this model or one of its children, according to the given _pluginUri. More...

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

void	ProcessMsg (const msgs::Model &_msg)
	Update parameters from a model message. More...

virtual ignition::math::Vector3d	RelativeAngularAccel () const override
	Get the angular acceleration of the entity. More...

virtual ignition::math::Vector3d	RelativeAngularVel () const override
	Get the angular velocity of the entity. More...

virtual ignition::math::Vector3d	RelativeLinearAccel () const override
	Get the linear acceleration of the entity. More...

virtual ignition::math::Vector3d	RelativeLinearVel () const override
	Get the linear velocity of the entity. More...

ignition::math::Pose3d	RelativePose () const
	Get the pose of the entity relative to its parent. More...

virtual void	RemoveChild (EntityPtr _child)
	Remove a child. 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 bool	RemoveJoint (const std::string &_name)
	Remove a joint for this model. More...

void	Reset () override
	Reset the model. More...

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

void	ResetPhysicsStates ()
	Reset the velocity, acceleration, force and torque of all child links. More...

ignition::math::Vector3d	Scale () const
	Get the scale of model. More...

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

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

std::vector< std::string >	SensorScopedName (const std::string &_name) const
	Get scoped sensor name(s) in the model that matches sensor name. More...

void	SetAngularVel (const ignition::math::Vector3d &_vel)
	Set the angular velocity of the model, and all its links. More...

void	SetAnimation (const common::PoseAnimationPtr &_anim, boost::function< void()> _onComplete)
	Set an animation for this entity. More...

void	SetAnimation (common::PoseAnimationPtr _anim)
	Set an animation for this entity. More...

void	SetAutoDisable (bool _disable)
	Allow the model the auto disable. More...

void	SetCanonicalLink (bool _value)
	Set to true if this entity is a canonical link for a model. More...

void	SetCollideMode (const std::string &_mode)
	This is not implemented in Link, which means this function doesn't do anything. More...

void	SetEnabled (bool _enabled)
	Enable all the links in all the models. More...

void	SetGravityMode (const bool &_value)
	Set the gravity mode of the model. More...

void	SetInitialRelativePose (const ignition::math::Pose3d &_pose)
	Set the initial pose. More...

void	SetJointAnimation (const std::map< std::string, common::NumericAnimationPtr > &_anims, boost::function< void()> _onComplete=NULL)
	Joint Animation. More...

void	SetJointPosition (const std::string &_jointName, double _position, int _index=0)
	Set the positions of a Joint by name. More...

void	SetJointPositions (const std::map< std::string, double > &_jointPositions)
	Set the positions of a set of joints. More...

void	SetLaserRetro (const float _retro)
	Set the laser retro reflectiveness of the model. More...

void	SetLinearVel (const ignition::math::Vector3d &_vel)
	Set the linear velocity of the model, and all its links. More...

void	SetLinkWorldPose (const ignition::math::Pose3d &_pose, std::string _linkName)
	Set the Pose of the entire Model by specifying desired Pose of a Link within the Model. More...

void	SetLinkWorldPose (const ignition::math::Pose3d &_pose, const LinkPtr &_link)
	Set the Pose of the entire Model by specifying desired Pose of a Link within the Model. More...

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

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

void	SetRelativePose (const ignition::math::Pose3d &_pose, const bool _notify=true, const bool _publish=true)
	Set the pose of the entity relative to its parent. More...

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

void	SetScale (const ignition::math::Vector3d &_scale, const bool _publish=false)
	Set the scale of model. More...

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

virtual void	SetSelfCollide (bool _self_collide)
	Set this model's self_collide property. More...

void	SetState (const ModelState &_state)
	Set the current model state. More...

void	SetStatic (const bool &_static)
	Set whether this entity is static: immovable. More...

virtual void	SetWindMode (const bool _mode)
	Set whether wind affects this body. More...

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

void	SetWorldPose (const ignition::math::Pose3d &_pose, const bool _notify=true, const bool _publish=true)
	Set the world pose of the entity. More...

void	SetWorldTwist (const ignition::math::Vector3d &_linear, const ignition::math::Vector3d &_angular, const bool _updateChildren=true)
	Set angular and linear rates of an physics::Entity. More...

boost::shared_ptr< Model >	shared_from_this ()
	Allow Model class to share itself as a boost shared_ptr. More...

virtual void	StopAnimation () override
	Stop the current animations. More...

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

virtual const sdf::ElementPtr	UnscaledSDF ()

void	Update () override
	Update the model. More...

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

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

virtual bool	WindMode () const
	Get the wind mode. More...

virtual ignition::math::Vector3d	WorldAngularAccel () const override
	Get the angular acceleration of the entity in the world frame. More...

virtual ignition::math::Vector3d	WorldAngularVel () const override
	Get the angular velocity of the entity in the world frame. More...

virtual ignition::math::Vector3d	WorldLinearAccel () const override
	Get the linear acceleration of the entity in the world frame. More...

virtual ignition::math::Vector3d	WorldLinearVel () const override
	Get the linear velocity of the entity in the world frame. More...

virtual const ignition::math::Pose3d &	WorldPose () const
	Get the absolute pose of the entity. More...

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

virtual void	OnPoseChange () override
	Callback when the pose of the model has been changed. More...

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

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

Protected Attributes
common::PoseAnimationPtr	animation
	Current pose animation. More...

event::ConnectionPtr	animationConnection
	Connection used to update an animation. More...

ignition::math::Pose3d	animationStartPose
	Start pose of an animation. More...

std::vector< ModelPtr >	attachedModels
	used by Model::AttachStaticModel More...

std::vector< ignition::math::Pose3d >	attachedModelsOffset
	used by Model::AttachStaticModel More...

Base_V	children
	Children of this entity. More...

std::vector< event::ConnectionPtr >	connections
	All our event connections. More...

ignition::math::Pose3d	dirtyPose
	The pose set by a physics engine. More...

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

transport::PublisherPtr	jointPub
	Publisher for joint info. More...

transport::NodePtr	node
	Communication node. More...

ignition::transport::Node	nodeIgn
	Ignition communication node. More...

BasePtr	parent
	Parent of this entity. More...

EntityPtr	parentEntity
	A helper that prevents numerous dynamic_casts. More...

common::Time	prevAnimationTime
	Previous time an animation was updated. More...

transport::PublisherPtr	requestPub
	Request publisher. More...

ignition::transport::Node::Publisher	requestPubIgn
	Request publisher. More...

ignition::math::Vector3d	scale
	Scale of the entity. More...

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

transport::PublisherPtr	visPub
	Visual publisher. More...

ignition::transport::Node::Publisher	visPubIgn
	Visual publisher. More...

msgs::Visual *	visualMsg
	Visual message container. More...

WorldPtr	world
	Pointer to the world. More...

ignition::math::Pose3d	worldPose
	World pose of the entity. More...

Detailed Description

A model is a collection of links, joints, and plugins.

Member Enumeration Documentation

◆ EntityType

enum EntityType

inherited

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

◆ Model()

Model ( BasePtr _parent )

explicit

Constructor.

Parameters

[in] _parent Parent object.

◆ ~Model()

virtual ~Model ( )

virtual

Destructor.

Member Function Documentation

◆ AddChild()

void AddChild ( BasePtr _child )

inherited

Add a child to this entity.

Parameters

[in] _child Child entity.

Referenced by Base::Update().

◆ AddType()

void AddType ( EntityType _type )

inherited

Add a type specifier.

Parameters

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

Referenced by Base::Update().

◆ AttachStaticModel()

void AttachStaticModel	(	ModelPtr &	_model,
		ignition::math::Pose3d	_offset
	)

Attach a static model to this model.

This function takes as input a static Model, which is a Model that has been marked as static (no physics simulation), and attaches it to this Model with a given offset.

This function is useful when you want to simulate a grasp of a static object, or move a static object around using a dynamic model.

If you are in doubt, do not use this function.

Parameters

[in]	_model	Pointer to the static model.
[in]	_offset	Offset, relative to this Model, to place _model.

◆ BoundingBox()

virtual ignition::math::AxisAlignedBox BoundingBox ( ) const

overridevirtual

Get the size of the bounding box.

Returns: The bounding box.

Reimplemented from Entity.

◆ CollisionBoundingBox()

ignition::math::AxisAlignedBox CollisionBoundingBox ( ) const

inherited

Returns collision bounding box.

Returns: Collsion bounding box.

◆ ComputeScopedName()

void ComputeScopedName ( )

protectedinherited

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

See also: Base::GetScopedName

Referenced by Base::Update().

◆ CreateJoint() [1/2]

virtual gazebo::physics::JointPtr CreateJoint	(	const std::string &	_name,
		const std::string &	_type,
		physics::LinkPtr	_parent,
		physics::LinkPtr	_child
	)

virtual

Create a joint for this model.

Parameters

[in]	_name	name of joint
[in]	_type	type of joint
[in]	_parent	parent link of joint
[in]	_child	child link of joint

Remarks: This loads the joint, but does not initialize it. Joint::Init() must be called on the returned joint to make it affect the simulation.

Returns: a JointPtr to the new joint created, returns NULL JointPtr() if joint by name _name already exists.

Exceptions

common::Exception When _type is not recognized

Reimplemented in DARTModel.

◆ CreateJoint() [2/2]

virtual gazebo::physics::JointPtr CreateJoint ( sdf::ElementPtr _sdf )

virtual

Create a joint for this model.

Parameters

[in] _sdf SDF parameters for <joint>

Remarks: This loads the joint, but does not initialize it. Joint::Init() must be called on the returned joint to make it affect the simulation.

Returns: a JointPtr to the new joint created, returns NULL JointPtr() if joint by name _name already exists.

Exceptions

common::Exception When _type is not recognized

Reimplemented in DARTModel.

◆ CreateLink()

LinkPtr CreateLink ( const std::string & _name )

Create a new link for this model.

Parameters

[in] _name name of the new link

Returns: a LinkPtr to the new link created, returns NULL if link _name already exists.

◆ DetachStaticModel()

void DetachStaticModel ( const std::string & _model )

Detach a static model from this model.

Parameters

[in] _model Name of an attached static model to remove.

See also: Model::AttachStaticModel.

◆ DirtyPose()

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

inherited

Returns Entity::dirtyPose.

The dirty pose is the pose set by the physics engine before it's value is propagated to the rest of the simulator.

Returns: The dirty pose of the entity.

◆ FillMsg()

virtual void FillMsg ( msgs::Model & _msg )

virtual

Fill a model message.

Parameters

[in] _msg Message to fill using this model's data.

◆ Fini()

virtual void Fini ( )

overridevirtual

Finalize the model.

Reimplemented from Entity.

Reimplemented in Actor, and DARTModel.

◆ GetAutoDisable()

bool GetAutoDisable ( ) const

Return the value of the SDF <allow_auto_disable> element.

Returns: True if auto disable is allowed for this model.

◆ GetByName()

BasePtr GetByName ( const std::string & _name )

inherited

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

inherited

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 )

inherited

Get a child by name.

Parameters

[in] _name Name of the child.

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

◆ GetChildCollision()

CollisionPtr GetChildCollision ( const std::string & _name )

inherited

Get a child collision entity, if one exists.

Parameters

[in] _name Name of the child collision object.

Returns: Pointer to the Collision object, or NULL if not found.

◆ GetChildCount()

unsigned int GetChildCount ( ) const

inherited

Get the number of children.

Returns: The number of children.

Referenced by Base::Update().

◆ GetChildLink()

LinkPtr GetChildLink ( const std::string & _name )

inherited

Get a child linke entity, if one exists.

Parameters

[in] _name Name of the child Link object.

Returns: Pointer to the Link object, or NULL if not found.

◆ GetGripper()

GripperPtr GetGripper ( size_t _index ) const

Get a gripper based on an index.

Returns: A pointer to a Gripper. Null if the _index is invalid.

◆ GetGripperCount()

size_t GetGripperCount ( ) const

Get the number of grippers in this model.

Returns: Size of this->grippers array.

See also: Model::GetGripper()

◆ GetId()

uint32_t GetId ( ) const

inherited

Return the ID of this entity.

This id is unique.

Returns: Integer ID.

Referenced by Base::Update().

◆ GetJoint()

JointPtr GetJoint ( const std::string & name )

Get a joint.

Parameters

name	The name of the joint, specified in the world file

Returns: Pointer to the joint

◆ GetJointController()

JointControllerPtr GetJointController ( )

Get a handle to the Controller for the joints in this model.

Returns: A handle to the Controller for the joints in this model.

◆ GetJointCount()

unsigned int GetJointCount ( ) const

Get the number of joints.

Returns: Get the number of joints.

◆ GetJoints()

const Joint_V& GetJoints ( ) const

Get the joints.

Returns: Vector of joints.

◆ GetLink()

LinkPtr GetLink ( const std::string & _name = "canonical" ) const

Get a link by name.

Parameters

[in] _name Name of the link to get.

Returns: Pointer to the link, NULL if the name is invalid.

◆ GetLinks()

const Link_V& GetLinks ( ) const

Construct and return a vector of Link's in this model Note this constructs the vector of Link's on the fly, could be costly.

Returns: a vector of Link's in this model

◆ GetName()

std::string GetName ( ) const

inherited

Return the name of the entity.

Returns: Name of the entity.

Referenced by Base::Update().

◆ GetNearestEntityBelow()

void GetNearestEntityBelow	(	double &	_distBelow,
		std::string &	_entityName
	)

inherited

Get the distance to the nearest entity below (along the Z-axis) this entity.

Parameters

[out]	_distBelow	The distance to the nearest entity below.
[out]	_entityName	The name of the nearest entity below.

◆ GetParent()

BasePtr GetParent ( ) const

inherited

Get the parent.

Returns: Pointer to the parent entity.

Referenced by Base::Update().

◆ GetParentId()

int GetParentId ( ) const

inherited

Return the ID of the parent.

Returns: Integer ID.

Referenced by Base::Update().

◆ GetParentModel()

ModelPtr GetParentModel ( )

inherited

Get the parent model, if one exists.

Returns: Pointer to a model, or NULL if no parent model exists.

◆ GetPluginCount()

unsigned int GetPluginCount ( ) const

Get the number of plugins this model has.

Returns: Number of plugins associated with this model.

◆ GetSaveable()

bool GetSaveable ( ) const

inherited

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

inherited

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 ( )

overridevirtual

Get the SDF values for the model.

Returns: The SDF value for this model.

Reimplemented from Base.

Reimplemented in Actor.

◆ GetSDFDom()

const sdf::Model* GetSDFDom ( ) const

Get the SDF DOM for the model.

Returns: The SDF DOM for this model.

◆ GetSelfCollide()

virtual bool GetSelfCollide ( ) const

virtual

If true, all links within the model will collide by default.

Two links within the same model will not collide if both have link.self_collide == false. link 1 and link2 collide = link1.self_collide || link2.self_collide Bodies connected by a joint are exempt from this, and will never collide.

Returns: True if self-collide enabled for this model, false otherwise.

Reimplemented in Actor.

◆ GetSensorCount()

unsigned int GetSensorCount ( ) const

Get the number of sensors attached to this model.

This will count all the sensors attached to all the links.

Returns: Number of sensors.

◆ GetType()

unsigned int GetType ( ) const

inherited

Get the full type definition.

Returns: The full type definition.

Referenced by Base::Update().

◆ GetWorld()

const WorldPtr& GetWorld ( ) const

inherited

Get the World this object is in.

Returns: The World this object is part of.

Referenced by Base::Update().

◆ GetWorldEnergy()

double GetWorldEnergy ( ) const

Returns this model's total energy, or sum of Model::GetWorldEnergyPotential() and Model::GetWorldEnergyKinetic().

Returns: this link's total energy

◆ GetWorldEnergyKinetic()

double GetWorldEnergyKinetic ( ) const

Returns sum of the kinetic energies of all links in this model.

Computed using link's CoG velocity in the inertial (world) frame.

Returns: this link's kinetic energy

◆ GetWorldEnergyPotential()

double GetWorldEnergyPotential ( ) const

Returns the potential energy of all links and joint springs in the model.

Returns: this link's potential energy,

◆ HasType()

bool HasType ( const EntityType & _t ) const

inherited

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 ( )

overridevirtual

Initialize the model.

Reimplemented from Base.

Reimplemented in Actor, DARTModel, and SimbodyModel.

◆ InitialRelativePose()

ignition::math::Pose3d InitialRelativePose ( ) const

inherited

Get the initial relative pose.

Returns: The initial relative pose.

◆ IsCanonicalLink()

bool IsCanonicalLink ( ) const

inlineinherited

A helper function that checks if this is a canonical body.

Returns: True if the link is canonical.

◆ IsSelected()

bool IsSelected ( ) const

inherited

True if the entity is selected by the user.

Returns: True if the entity is selected.

Referenced by Base::Update().

◆ IsStatic()

bool IsStatic ( ) const

inherited

Return whether this entity is static.

Returns: True if static.

◆ Load()

void Load ( sdf::ElementPtr _sdf )

overridevirtual

Load the model.

Parameters

[in] _sdf SDF parameters to load from.

Reimplemented from Entity.

Reimplemented in SimbodyModel.

◆ LoadJoints()

void LoadJoints ( )

Load all the joints.

◆ LoadPlugins()

void LoadPlugins ( )

Load all plugins.

Load all plugins specified in the SDF for the model.

◆ NestedModel()

ModelPtr NestedModel ( const std::string & _name ) const

Get a nested model that is a direct child of this model.

Parameters

[in] _name Name of the child model to get.

Returns: Pointer to the model, NULL if the name is invalid.

◆ NestedModels()

const Model_V& NestedModels ( ) const

Get all the nested models.

Returns: a vector of Model's in this model

◆ OnPoseChange()

virtual void OnPoseChange ( )

overrideprotectedvirtual

Callback when the pose of the model has been changed.

Implements Entity.

◆ operator==()

bool operator== ( const Base & _ent ) const

inherited

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().

◆ PlaceOnEntity()

void PlaceOnEntity ( const std::string & _entityName )

inherited

Move this entity to be ontop of another entity by name.

Parameters

[in] _entityName Name of the Entity this Entity should be ontop of.

◆ PlaceOnNearestEntityBelow()

void PlaceOnNearestEntityBelow ( )

inherited

Move this entity to be ontop of the nearest entity below.

◆ PluginInfo()

void PluginInfo	(	const common::URI &	_pluginUri,
		ignition::msgs::Plugin_V &	_plugins,
		bool &	_success
	)

Get information about plugins in this model or one of its children, according to the given _pluginUri.

Some accepted URI patterns:

Info about a specific model plugin in this model: data://world/<world_name>/model/<this_name>/plugin/<plugin_name>
Info about all model plugins in this model (empty plugin name): data://world/<world_name>/model/<this_name>/plugin
Info about a model plugin in a nested model: data://world/<world_name>/model/<this_name>/model/ <nested_model_name>/plugin/<plugin_name>

Parameters

[in]	_pluginUri	URI for the desired plugin(s).
[out]	_plugins	Message containing vector of plugins.
[out]	_success	True if the info was successfully obtained.

◆ Print()

void Print ( const std::string & _prefix )

inherited

Print this object to screen via gzmsg.

Parameters

[in] _prefix Usually a set of spaces.

Referenced by Base::Update().

◆ ProcessMsg()

void ProcessMsg ( const msgs::Model & _msg )

Update parameters from a model message.

Parameters

[in] _msg Message to process.

◆ RegisterIntrospectionItems()

virtual void RegisterIntrospectionItems ( )

overrideprotectedvirtual

Register items in the introspection service.

Reimplemented from Base.

◆ RelativeAngularAccel()

virtual ignition::math::Vector3d RelativeAngularAccel ( ) const

overridevirtual

Get the angular acceleration of the entity.

Returns: ignition::math::Vector3d, set to 0, 0, 0 if the model has no body.

Reimplemented from Entity.

◆ RelativeAngularVel()

virtual ignition::math::Vector3d RelativeAngularVel ( ) const

overridevirtual

Get the angular velocity of the entity.

Returns: ignition::math::Vector3d, set to 0, 0, 0 if the model has no body.

Reimplemented from Entity.

◆ RelativeLinearAccel()

virtual ignition::math::Vector3d RelativeLinearAccel ( ) const

overridevirtual

Get the linear acceleration of the entity.

Returns: ignition::math::Vector3d, set to 0, 0, 0 if the model has no body.

Reimplemented from Entity.

◆ RelativeLinearVel()

virtual ignition::math::Vector3d RelativeLinearVel ( ) const

overridevirtual

Get the linear velocity of the entity.

Returns: ignition::math::Vector3d, set to 0, 0, 0 if the model has no body.

Reimplemented from Entity.

◆ RelativePose()

ignition::math::Pose3d RelativePose ( ) const

inherited

Get the pose of the entity relative to its parent.

Returns: The pose of the entity relative to its parent.

◆ RemoveChild() [1/4]

virtual void RemoveChild ( EntityPtr _child )

virtual

Remove a child.

Parameters

[in] _child Remove a child entity.

◆ RemoveChild() [2/4]

virtual void RemoveChild ( unsigned int _id )

virtualinherited

Remove a child from this entity.

Parameters

[in] _id ID of the child to remove.

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

◆ RemoveChild() [3/4]

void RemoveChild ( const std::string & _name )

inherited

Remove a child by name.

Parameters

[in] _name Name of the child.

◆ RemoveChild() [4/4]

void RemoveChild ( physics::BasePtr _child )

inherited

Remove a child by pointer.

Parameters

[in] _child Pointer to the child.

◆ RemoveChildren()

void RemoveChildren ( )

inherited

Remove all children.

Referenced by Base::Update().

◆ RemoveJoint()

virtual bool RemoveJoint ( const std::string & _name )

virtual

Remove a joint for this model.

Parameters

[in] _name name of joint

Returns: true if successful, false if not.

Reimplemented in DARTModel.

◆ Reset() [1/2]

void Reset ( )

overridevirtual

Reset the model.

Reimplemented from Entity.

◆ Reset() [2/2]

virtual void Reset ( Base::EntityType _resetType )

virtualinherited

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

Parameters

[in] _resetType The type of reset operation

◆ ResetPhysicsStates()

void ResetPhysicsStates ( )

Reset the velocity, acceleration, force and torque of all child links.

◆ Scale()

ignition::math::Vector3d Scale ( ) const

Get the scale of model.

Returns: Scale of the model.

See also: void SetScale(const ignition::math::Vector3d &_scale, const bool _publish = false)

◆ SDFPoseRelativeToParent()

ignition::math::Pose3d SDFPoseRelativeToParent ( ) const

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.

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

Referenced by Base::Update().

◆ SDFSemanticPose()

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

overridevirtual

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 from Base.

◆ SensorScopedName()

std::vector<std::string> SensorScopedName ( const std::string & _name ) const

Get scoped sensor name(s) in the model that matches sensor name.

Get the names of sensors in the model where sensor name matches the user provided argument.

Note: A Model does not manage or maintain a pointer to a sensors::Sensor. Access to a Sensor object is accomplished through the sensors::SensorManager. This was done to separate the physics engine from the sensor engine.

Parameters

[in] _name Unscoped sensor name.

Returns: The scoped name of the sensor(s), or empty list if not found.

◆ SetAngularVel()

void SetAngularVel ( const ignition::math::Vector3d & _vel )

Set the angular velocity of the model, and all its links.

Parameters

[in] _vel The new angular velocity.

◆ SetAnimation() [1/2]

void SetAnimation	(	const common::PoseAnimationPtr &	_anim,
		boost::function< void()>	_onComplete
	)

inherited

Set an animation for this entity.

Parameters

[in]	_anim	Pose animation.
[in]	_onComplete	Callback for when the animation completes.

◆ SetAnimation() [2/2]

void SetAnimation ( common::PoseAnimationPtr _anim )

inherited

Set an animation for this entity.

Parameters

[in] _anim Pose animation.

◆ SetAutoDisable()

void SetAutoDisable ( bool _disable )

Allow the model the auto disable.

This is ignored if the model has joints.

Parameters

[in] _disable If true, the model is allowed to auto disable.

◆ SetCanonicalLink()

void SetCanonicalLink ( bool _value )

inherited

Set to true if this entity is a canonical link for a model.

Parameters

[in] _value True if the link is canonical.

◆ SetCollideMode()

void SetCollideMode ( const std::string & _mode )

This is not implemented in Link, which means this function doesn't do anything.

Set the collide mode of the model.

Parameters

[in] _mode The collision mode

◆ SetEnabled()

void SetEnabled ( bool _enabled )

Enable all the links in all the models.

Parameters

[in] _enabled True to enable all the links.

◆ SetGravityMode()

void SetGravityMode ( const bool & _value )

Set the gravity mode of the model.

Parameters

[in] _value True to enable gravity.

◆ SetInitialRelativePose()

void SetInitialRelativePose ( const ignition::math::Pose3d & _pose )

inherited

Set the initial pose.

Parameters

[in] _pose The initial pose.

◆ SetJointAnimation()

void SetJointAnimation	(	const std::map< std::string, common::NumericAnimationPtr > &	_anims,
		boost::function< void()>	_onComplete = `NULL`
	)

Joint Animation.

Parameters

[in]	_anim	Map of joint names to their position animation.
[in]	_onComplete	Callback function for when the animation completes.

◆ SetJointPosition()

void SetJointPosition	(	const std::string &	_jointName,
		double	_position,
		int	_index = `0`
	)

Set the positions of a Joint by name.

See also: JointController::SetJointPosition

Parameters

[in]	_jointName	Name of the joint to set.
[in]	_position	Position to set the joint to.

◆ SetJointPositions()

void SetJointPositions ( const std::map< std::string, double > & _jointPositions )

Set the positions of a set of joints.

See also: JointController::SetJointPositions.

Parameters

[in] _jointPositions Map of joint names to their positions.

◆ SetLaserRetro()

void SetLaserRetro ( const float _retro )

Set the laser retro reflectiveness of the model.

Parameters

[in] _retro Retro reflectance value.

◆ SetLinearVel()

void SetLinearVel ( const ignition::math::Vector3d & _vel )

Set the linear velocity of the model, and all its links.

Parameters

[in] _vel The new linear velocity.

◆ SetLinkWorldPose() [1/2]

void SetLinkWorldPose	(	const ignition::math::Pose3d &	_pose,
		std::string	_linkName
	)

Set the Pose of the entire Model by specifying desired Pose of a Link within the Model.

Doing so, keeps the configuration of the Model unchanged, i.e. all Joint angles are unchanged.

Parameters

[in]	_pose	Pose to set the link to.
[in]	_linkName	Name of the link to set.

◆ SetLinkWorldPose() [2/2]

void SetLinkWorldPose	(	const ignition::math::Pose3d &	_pose,
		const LinkPtr &	_link
	)

Set the Pose of the entire Model by specifying desired Pose of a Link within the Model.

Doing so, keeps the configuration of the Model unchanged, i.e. all Joint angles are unchanged.

Parameters

[in]	_pose	Pose to set the link to.
[in]	_link	Pointer to the link to set.

◆ SetName()

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

virtualinherited

Set the name of the entity.

Parameters

[in] _name The new name.

Reimplemented from Base.

◆ SetParent()

void SetParent ( BasePtr _parent )

inherited

Set the parent.

Parameters

[in] _parent Parent object.

Referenced by Base::Update().

◆ SetRelativePose()

void SetRelativePose	(	const ignition::math::Pose3d &	_pose,
		const bool	_notify = `true`,
		const bool	_publish = `true`
	)

inherited

Set the pose of the entity relative to its parent.

Parameters

[in]	_pose	The new pose.
[in]	_notify	True = tell children of the pose change.
[in]	_publish	True to publish the pose.

◆ SetSaveable()

void SetSaveable ( bool _v )

inherited

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().

◆ SetScale()

void SetScale	(	const ignition::math::Vector3d &	_scale,
		const bool	_publish = `false`
	)

Set the scale of model.

Parameters

[in]	_scale	Scale to set the model to.
[in]	_publish	True to publish a message for the client with the new scale.

See also: ignition::math::Vector3d Scale() const

◆ SetSelected()

virtual bool SetSelected ( bool _show )

virtualinherited

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().

◆ SetSelfCollide()

virtual void SetSelfCollide ( bool _self_collide )

virtual

Set this model's self_collide property.

See also: GetSelfCollide

Parameters

[in] _self_collide True if self-collisions enabled by default.

Reimplemented in Actor.

◆ SetState()

void SetState ( const ModelState & _state )

Set the current model state.

Parameters

[in] _state State to set the model to.

◆ SetStatic()

void SetStatic ( const bool & _static )

inherited

Set whether this entity is static: immovable.

Parameters

[in] _static True = static.

Referenced by Link::UpdateSurface().

◆ SetWindMode()

virtual void SetWindMode ( const bool _mode )

virtual

Set whether wind affects this body.

Parameters

[in] _mode True to enable wind.

Reimplemented in Actor.

◆ SetWorld()

void SetWorld ( const WorldPtr & _newWorld )

inherited

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().

◆ SetWorldPose()

void SetWorldPose	(	const ignition::math::Pose3d &	_pose,
		const bool	_notify = `true`,
		const bool	_publish = `true`
	)

inherited

Set the world pose of the entity.

Parameters

[in]	_pose	The new world pose.
[in]	_notify	True = tell children of the pose change.
[in]	_publish	True to publish the pose.

◆ SetWorldTwist()

void SetWorldTwist	(	const ignition::math::Vector3d &	_linear,
		const ignition::math::Vector3d &	_angular,
		const bool	_updateChildren = `true`
	)

inherited

Set angular and linear rates of an physics::Entity.

Parameters

[in]	_linear	Linear twist.
[in]	_angular	Angular twist.
[in]	_updateChildren	True to pass this update to child entities.

◆ shared_from_this()

boost::shared_ptr<Model> shared_from_this ( )

Allow Model class to share itself as a boost shared_ptr.

Returns: a shared pointer to itself

◆ StopAnimation()

virtual void StopAnimation ( )

overridevirtual

Stop the current animations.

Reimplemented from Entity.

◆ TypeStr()

std::string TypeStr ( ) const

inherited

Get the string name for the entity type.

Returns: The string name for this entity.

Referenced by Base::Update().

◆ UnregisterIntrospectionItems()

virtual void UnregisterIntrospectionItems ( )

protectedvirtualinherited

Unregister items in the introspection service.

Referenced by Base::Update().

◆ UnscaledSDF()

virtual const sdf::ElementPtr UnscaledSDF ( )

virtual

◆ Update()

void Update ( )

overridevirtual

Update the model.

Reimplemented from Base.

◆ UpdateParameters()

virtual void UpdateParameters ( sdf::ElementPtr _sdf )

overridevirtual

Update the parameters using new sdf values.

Parameters

[in] _sdf SDF values to update from.

Reimplemented from Entity.

Reimplemented in Actor.

◆ URI()

common::URI URI ( ) const

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.

Returns: The URI of this entity.

Referenced by Base::Update().

◆ WindMode()

virtual bool WindMode ( ) const

virtual

Get the wind mode.

Returns: True if wind is enabled.

Reimplemented in Actor.

◆ WorldAngularAccel()

virtual ignition::math::Vector3d WorldAngularAccel ( ) const

overridevirtual

Get the angular acceleration of the entity in the world frame.

Returns: ignition::math::Vector3d, set to 0, 0, 0 if the model has no body.

Reimplemented from Entity.

◆ WorldAngularVel()

virtual ignition::math::Vector3d WorldAngularVel ( ) const

overridevirtual

Get the angular velocity of the entity in the world frame.

Returns: ignition::math::Vector3, set to 0, 0, 0 if the model has no body.

Reimplemented from Entity.

◆ WorldLinearAccel()

virtual ignition::math::Vector3d WorldLinearAccel ( ) const

overridevirtual

Get the linear acceleration of the entity in the world frame.

Returns: ignition::math::Vector3d, set to 0, 0, 0 if the model has no body.

Reimplemented from Entity.

◆ WorldLinearVel()

virtual ignition::math::Vector3d WorldLinearVel ( ) const

overridevirtual

Get the linear velocity of the entity in the world frame.

Returns: ignition::math::Vector3d, set to 0, 0, 0 if the model has no body.

Reimplemented from Entity.

◆ WorldPose()

virtual const ignition::math::Pose3d& WorldPose ( ) const

inlinevirtualinherited

Get the absolute pose of the entity.

Returns: The absolute pose of the entity.

Reimplemented in Collision, and Light.

Member Data Documentation

◆ animation

common::PoseAnimationPtr animation

protectedinherited

Current pose animation.

◆ animationConnection

event::ConnectionPtr animationConnection

protectedinherited

Connection used to update an animation.

◆ animationStartPose

ignition::math::Pose3d animationStartPose

protectedinherited

Start pose of an animation.

◆ attachedModels

std::vector<ModelPtr> attachedModels

protected

used by Model::AttachStaticModel

◆ attachedModelsOffset

std::vector<ignition::math::Pose3d> attachedModelsOffset

protected

used by Model::AttachStaticModel

◆ children

Base_V children

protectedinherited

Children of this entity.

◆ connections

std::vector<event::ConnectionPtr> connections

protectedinherited

All our event connections.

◆ dirtyPose

ignition::math::Pose3d dirtyPose

protectedinherited

The pose set by a physics engine.

◆ introspectionItems

std::vector<common::URI> introspectionItems

protectedinherited

All the introspection items regsitered for this.

◆ jointPub

transport::PublisherPtr jointPub

protected

Publisher for joint info.

◆ node

transport::NodePtr node

protectedinherited

Communication node.

◆ nodeIgn

ignition::transport::Node nodeIgn

protectedinherited

Ignition communication node.

◆ parent

BasePtr parent

protectedinherited

Parent of this entity.

◆ parentEntity

EntityPtr parentEntity

protectedinherited

A helper that prevents numerous dynamic_casts.

◆ prevAnimationTime

common::Time prevAnimationTime

protectedinherited

Previous time an animation was updated.

◆ requestPub

transport::PublisherPtr requestPub

protectedinherited

Request publisher.

◆ requestPubIgn

ignition::transport::Node::Publisher requestPubIgn

protectedinherited

Request publisher.

◆ scale

ignition::math::Vector3d scale

protectedinherited

Scale of the entity.

◆ sdf

sdf::ElementPtr sdf

protectedinherited

The SDF values for this object.

◆ visPub

transport::PublisherPtr visPub

protectedinherited

Visual publisher.

◆ visPubIgn

ignition::transport::Node::Publisher visPubIgn

protectedinherited

Visual publisher.

◆ visualMsg

msgs::Visual* visualMsg

protectedinherited

Visual message container.

◆ world

WorldPtr world

protectedinherited

Pointer to the world.

◆ worldPose

ignition::math::Pose3d worldPose

mutableprotectedinherited

World pose of the entity.

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

Model.hh

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ EntityType

Constructor & Destructor Documentation

◆ Model()

◆ ~Model()

Member Function Documentation

◆ AddChild()

◆ AddType()

◆ AttachStaticModel()

◆ BoundingBox()

◆ CollisionBoundingBox()

◆ ComputeScopedName()

◆ CreateJoint() [1/2]

◆ CreateJoint() [2/2]

◆ CreateLink()

◆ DetachStaticModel()

◆ DirtyPose()

◆ FillMsg()

◆ Fini()

◆ GetAutoDisable()

◆ GetByName()

◆ GetChild() [1/2]

◆ GetChild() [2/2]

◆ GetChildCollision()

◆ GetChildCount()

◆ GetChildLink()

◆ GetGripper()

◆ GetGripperCount()

◆ GetId()

◆ GetJoint()

◆ GetJointController()

◆ GetJointCount()

◆ GetJoints()

◆ GetLink()

◆ GetLinks()

◆ GetName()

◆ GetNearestEntityBelow()

◆ GetParent()

◆ GetParentId()

◆ GetParentModel()

◆ GetPluginCount()

◆ GetSaveable()

◆ GetScopedName()

◆ GetSDF()

◆ GetSDFDom()

◆ GetSelfCollide()

◆ GetSensorCount()

◆ GetType()

◆ GetWorld()

◆ GetWorldEnergy()

◆ GetWorldEnergyKinetic()

◆ GetWorldEnergyPotential()

◆ HasType()

◆ Init()

◆ InitialRelativePose()

◆ IsCanonicalLink()

◆ IsSelected()

◆ IsStatic()

◆ Load()

◆ LoadJoints()

◆ LoadPlugins()

◆ NestedModel()

◆ NestedModels()

◆ OnPoseChange()

◆ operator==()

◆ PlaceOnEntity()

◆ PlaceOnNearestEntityBelow()

◆ PluginInfo()

◆ Print()

◆ ProcessMsg()

◆ RegisterIntrospectionItems()

◆ RelativeAngularAccel()

◆ RelativeAngularVel()

◆ RelativeLinearAccel()

◆ RelativeLinearVel()