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

#include <physics/physics.hh>

Inherits State.

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

	ModelState (const ModelPtr _model, const common::Time &_realTime, const common::Time &_simTime, const uint64_t _iterations)
	Constructor. More...

	ModelState (const ModelPtr _model)
	Constructor. More...

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

virtual	~ModelState ()
	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...

JointState	GetJointState (unsigned int _index) const
	Get a Joint state. More...

JointState	GetJointState (const std::string &_jointName) const
	Get a Joint state by Joint name. More...

unsigned int	GetJointStateCount () const
	Get the number of joint states. More...

JointState_M	GetJointStates (const boost::regex &_regex) const
	Get joint states based on a regular expression. More...

const JointState_M &	GetJointStates () const
	Get the joint states. More...

LinkState	GetLinkState (const std::string &_linkName) const
	Get a link state by Link name. More...

unsigned int	GetLinkStateCount () const
	Get the number of link states. More...

LinkState_M	GetLinkStates (const boost::regex &_regex) const
	Get link states based on a regular expression. More...

const LinkState_M &	GetLinkStates () const
	Get the link states. 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	HasJointState (const std::string &_jointName) const
	Return true if there is a joint with the specified name. More...

bool	HasLinkState (const std::string &_linkName) const
	Return true if there is a link with the specified name. More...

bool	HasNestedModelState (const std::string &_modelName) const
	Return true if there is a nested model with the specified name. More...

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

void	Load (const ModelPtr _model, const common::Time &_realTime, const common::Time &_simTime, const uint64_t _iterations)
	Load state from Model pointer. More...

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

ModelState	NestedModelState (const std::string &_modelName) const
	Get a model state by model name. More...

unsigned int	NestedModelStateCount () const
	Get the number of model states. More...

const ModelState_M &	NestedModelStates () const
	Get the nested model states. More...

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

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

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

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

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

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

virtual void	SetIterations (const uint64_t _iterations)
	Set the simulation 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::ModelState &_state)
	Stream insertion operator. More...

Detailed Description

Store state information of a physics::Model object.

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

State of a Model includes the state of all its child Links and Joints.

Constructor & Destructor Documentation

◆ ModelState() [1/4]

ModelState ( )

Default constructor.

◆ ModelState() [2/4]

ModelState	(	const ModelPtr	_model,
		const common::Time &	_realTime,
		const common::Time &	_simTime,
		const uint64_t	_iterations
	)

Constructor.

Build a ModelState from an existing Model.

Parameters

[in]	_model	Pointer to the model from which to gather state info.
[in]	_realTime	Real time stamp.
[in]	_simTime	Sim time stamp.
[in]	_iterations	Simulation iterations.

◆ ModelState() [3/4]

ModelState ( const ModelPtr _model )

explicit

Constructor.

Build a ModelState from an existing Model.

Parameters

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

◆ ModelState() [4/4]

ModelState ( const sdf::ElementPtr _sdf )

explicit

Constructor.

Build a ModelState from SDF data

Parameters

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

◆ ~ModelState()

virtual ~ModelState ( )

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

◆ GetJointState() [1/2]

JointState GetJointState ( unsigned int _index ) const

Get a Joint state.

Return a JointState based on a index, where index is between 0...ModelState::GetJointStateCount().

Parameters

[in] _index Index of a JointState.

Returns: State of a Joint.

Exceptions

common::Exception When _index is out of range.

◆ GetJointState() [2/2]

JointState GetJointState ( const std::string & _jointName ) const

Get a Joint state by Joint name.

Searches through all JointStates. Returns the JointState with the matching name, if any.

Parameters

[in] _jointName Name of the JointState.

Returns: State of the Joint.

Exceptions

common::Exception When _jointName is invalid.

◆ GetJointStateCount()

unsigned int GetJointStateCount ( ) const

Get the number of joint states.

Returns the number of JointStates recorded.

Returns: Number of JointStates.

◆ GetJointStates() [1/2]

JointState_M GetJointStates ( const boost::regex & _regex ) const

Get joint states based on a regular expression.

Parameters

[in] _regex The regular expression.

Returns: List of joint states whose names match the regular expression.

◆ GetJointStates() [2/2]

const JointState_M& GetJointStates ( ) const

Get the joint states.

Returns: A map of joint states.

◆ GetLinkState()

LinkState GetLinkState ( const std::string & _linkName ) const

Get a link state by Link name.

Searches through all LinkStates. Returns the LinkState with the matching name, if any.

Parameters

[in] _linkName Name of the LinkState

Returns: State of the Link.

Exceptions

common::Exception When _linkName is invalid.

◆ GetLinkStateCount()

unsigned int GetLinkStateCount ( ) const

Get the number of link states.

This returns the number of Links recorded.

Returns: Number of LinkState recorded.

◆ GetLinkStates() [1/2]

LinkState_M GetLinkStates ( const boost::regex & _regex ) const

Get link states based on a regular expression.

Parameters

[in] _regex The regular expression.

Returns: List of link states whose names match the regular expression.

◆ GetLinkStates() [2/2]

const LinkState_M& GetLinkStates ( ) const

Get the link states.

Returns: A map of link states.

◆ 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.

◆ HasJointState()

bool HasJointState ( const std::string & _jointName ) const

Return true if there is a joint with the specified name.

Parameters

[in] _jointName Name of the Jointtate.

Returns: True if the joint exists in the model.

◆ HasLinkState()

bool HasLinkState ( const std::string & _linkName ) const

Return true if there is a link with the specified name.

Parameters

[in] _linkName Name of the LinkState.

Returns: True if the link exists in the model.

◆ HasNestedModelState()

bool HasNestedModelState ( const std::string & _modelName ) const

Return true if there is a nested model with the specified name.

Parameters

[in] _modelName Name of the model state.

Returns: True if the model exists in this model state.

◆ 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() [1/2]

void Load	(	const ModelPtr	_model,
		const common::Time &	_realTime,
		const common::Time &	_simTime,
		const uint64_t	_iterations
	)

Load state from Model pointer.

Build a ModelState from an existing Model.

Parameters

[in]	_model	Pointer to the model from which to gather state info.
[in]	_realTime	Real time stamp.
[in]	_simTime	Sim time stamp.
[in]	_iterations	Simulation iterations.

◆ Load() [2/2]

virtual void Load ( const sdf::ElementPtr _elem )

virtual

Load state from SDF element.

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

Parameters

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

Reimplemented from State.

◆ NestedModelState()

ModelState NestedModelState ( const std::string & _modelName ) const

Get a model state by model name.

Searches through all nested model states. Returns the model state with the matching name, if any.

Parameters

[in] _modelName Name of the model state

Returns: State of the Model.

Exceptions

common::Exception When _modelName is invalid.

◆ NestedModelStateCount()

unsigned int NestedModelStateCount ( ) const

Get the number of model states.

This returns the number of nested model states recorded.

Returns: Number of nested ModelState recorded.

◆ NestedModelStates()

const ModelState_M& NestedModelStates ( ) const

Get the nested model states.

Returns: A map of model names to model states.

◆ operator+()

ModelState operator+ ( const ModelState & _state ) const

Addition operator.

Parameters

[in] _pt A state to substract.

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]

ModelState operator- ( const ModelState & _state ) const

Subtraction operator.

Parameters

[in] _pt A state to substract.

Returns: The resulting state.

◆ operator=()

ModelState& operator= ( const ModelState & _state )

Assignment operator.

Parameters

[in] _state State value

Returns: this

◆ Pose()

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

Get the stored model pose.

Returns: The ignition::math::Pose3d of the Model.

◆ Scale()

const ignition::math::Vector3d& Scale ( ) const

Get the stored model scale.

Returns: The scale of the Model.

◆ SetIterations()

virtual void SetIterations ( const uint64_t _iterations )

virtual

Set the simulation iterations when this state was generated.

Parameters

[in] _iterations Simulation iterations when the data was recorded.

Reimplemented from State.

◆ 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 )

virtual

Set the real time when this state was generated.

Parameters

[in] _time Clock time since simulation was stated.

Reimplemented from State.

◆ SetSimTime()

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

virtual

Set the sim time when this state was generated.

Parameters

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

Reimplemented from State.

◆ SetWallTime()

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

virtual

Set the wall time when this state was generated.

Parameters

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

Reimplemented from State.

Friends And Related Function Documentation

◆ operator<<

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

friend

Stream insertion operator.

Parameters

[in]	_out	output stream.
[in]	_state	Model 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:

ModelState.hh

Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ ModelState() [1/4]

◆ ModelState() [2/4]

◆ ModelState() [3/4]

◆ ModelState() [4/4]

◆ ~ModelState()

Member Function Documentation

◆ FillSDF()

◆ GetIterations()

◆ GetJointState() [1/2]

◆ GetJointState() [2/2]

◆ GetJointStateCount()

◆ GetJointStates() [1/2]

◆ GetJointStates() [2/2]

◆ GetLinkState()

◆ GetLinkStateCount()

◆ GetLinkStates() [1/2]

◆ GetLinkStates() [2/2]

◆ GetName()

◆ GetRealTime()

◆ GetSimTime()

◆ GetWallTime()

◆ HasJointState()

◆ HasLinkState()

◆ HasNestedModelState()

◆ IsZero()

◆ Load() [1/2]

◆ Load() [2/2]

◆ NestedModelState()

◆ NestedModelStateCount()

◆ NestedModelStates()

◆ operator+()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator=()

◆ Pose()

◆ Scale()

◆ SetIterations()

◆ SetName()

◆ SetRealTime()

◆ SetSimTime()

◆ SetWallTime()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ iterations

◆ name

◆ realTime

◆ simTime

◆ wallTime