for building a Road from SDF More...
#include <physics/physics.hh>
Inherits Base.
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 | |
Road (BasePtr _parent) | |
Constructor. More... | |
virtual | ~Road () |
Destructor. More... | |
void | AddChild (BasePtr _child) |
Add a child to this entity. More... | |
void | AddType (EntityType _type) |
Add a type specifier. More... | |
virtual void | Fini () |
Finalize the road. More... | |
BasePtr | GetByName (const std::string &_name) |
Get by name. More... | |
BasePtr | GetChild (unsigned int _i) const |
Get a child by index. More... | |
BasePtr | GetChild (const std::string &_name) |
Get a child by name. More... | |
unsigned int | GetChildCount () const |
Get the number of children. More... | |
uint32_t | GetId () const |
Return the ID of this entity. More... | |
std::string | GetName () const |
Return the name of the entity. More... | |
BasePtr | GetParent () const |
Get the parent. More... | |
int | GetParentId () const |
Return the ID of the parent. More... | |
bool | GetSaveable () const |
Get whether the object should be "saved", when the user selects to save the world to xml. More... | |
std::string | GetScopedName (bool _prependWorldName=false) const |
Return the name of this entity with the model scope model1::...::modelN::entityName. More... | |
virtual const sdf::ElementPtr | GetSDF () |
Get the SDF values for the object. More... | |
unsigned int | GetType () const |
Get the full type definition. More... | |
double | GetWidth () const |
Get the road width in meters. More... | |
const WorldPtr & | GetWorld () const |
Get the World this object is in. More... | |
bool | HasType (const EntityType &_t) const |
Returns true if this object's type definition has the given type. More... | |
virtual void | Init () |
Initialize the road. More... | |
bool | IsSelected () const |
True if the entity is selected by the user. More... | |
void | Load (sdf::ElementPtr _sdf) |
Load the road from SDF. More... | |
bool | operator== (const Base &_ent) const |
Returns true if the entities are the same. More... | |
const std::vector< ignition::math::Vector3d > & | Points () const |
Get the points that define the road. More... | |
void | Print (const std::string &_prefix) |
Print this object to screen via gzmsg. More... | |
virtual void | RemoveChild (unsigned int _id) |
Remove a child from this entity. More... | |
void | RemoveChild (const std::string &_name) |
Remove a child by name. More... | |
void | RemoveChild (physics::BasePtr _child) |
Remove a child by pointer. More... | |
void | RemoveChildren () |
Remove all children. More... | |
virtual void | Reset () |
Reset the object. More... | |
virtual void | Reset (Base::EntityType _resetType) |
Calls recursive Reset on one of the Base::EntityType's. More... | |
ignition::math::Pose3d | SDFPoseRelativeToParent () const |
Get the SDF pose of the object according to the sdf 1.6 convention. More... | |
virtual std::optional< sdf::SemanticPose > | SDFSemanticPose () const |
Get the SDF SemanticPose object associated with the pose of this object. More... | |
virtual void | SetName (const std::string &_name) |
Set the name of the entity. More... | |
void | SetParent (BasePtr _parent) |
Set the parent. More... | |
void | SetSaveable (bool _v) |
Set whether the object should be "saved", when the user selects to save the world to xml. More... | |
virtual bool | SetSelected (bool _show) |
Set whether this entity has been selected by the user through the gui. More... | |
void | SetWorld (const WorldPtr &_newWorld) |
Set the world this object belongs to. More... | |
std::string | TypeStr () const |
Get the string name for the entity type. More... | |
virtual void | Update () |
Update the object. More... | |
virtual void | UpdateParameters (sdf::ElementPtr _sdf) |
Update the parameters using new sdf values. More... | |
common::URI | URI () const |
Return the common::URI of this entity. More... | |
Protected Member Functions | |
void | ComputeScopedName () |
Compute the scoped name of this object based on its parents. More... | |
virtual void | RegisterIntrospectionItems () |
Register items in the introspection service. More... | |
virtual void | UnregisterIntrospectionItems () |
Unregister items in the introspection service. More... | |
Protected Attributes | |
Base_V | children |
Children of this entity. More... | |
std::vector< common::URI > | introspectionItems |
All the introspection items regsitered for this. More... | |
BasePtr | parent |
Parent of this entity. More... | |
sdf::ElementPtr | sdf |
The SDF values for this object. More... | |
WorldPtr | world |
Pointer to the world. More... | |
for building a Road from SDF
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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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virtual |
Destructor.
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inherited |
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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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virtual |
Finalize the road.
Reimplemented from Base.
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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 |
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inherited |
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inherited |
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inherited |
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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 |
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 |
double GetWidth | ( | ) | const |
Get the road width in meters.
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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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virtual |
Initialize the road.
Reimplemented from Base.
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inherited |
True if the entity is selected by the user.
Referenced by Base::Update().
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virtual |
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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().
const std::vector<ignition::math::Vector3d>& Points | ( | ) | const |
Get the points that define the road.
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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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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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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 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 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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inlinevirtualinherited |
Update the object.
Reimplemented in MultiRayShape, Actor, Joint, RayShape, Model, DARTModel, MapShape, DARTRayShape, ODERayShape, DARTMeshShape, ODEMeshShape, ODEPolylineShape, SimbodyRayShape, BulletRayShape, and MeshShape.
References Base::AddChild(), Base::AddType(), Base::ComputeScopedName(), Base::GetByName(), Base::GetChild(), Base::GetChildCount(), Base::GetId(), Base::GetName(), Base::GetParent(), Base::GetParentId(), Base::GetSaveable(), Base::GetScopedName(), Base::GetSDF(), Base::GetType(), Base::GetWorld(), Base::HasType(), Base::IsSelected(), Base::operator==(), Base::Print(), Base::RegisterIntrospectionItems(), Base::RemoveChild(), Base::RemoveChildren(), Base::SDFPoseRelativeToParent(), Base::SDFSemanticPose(), Base::SetName(), Base::SetParent(), Base::SetSaveable(), Base::SetSelected(), Base::SetWorld(), Base::TypeStr(), Base::UnregisterIntrospectionItems(), Base::UpdateParameters(), and Base::URI().
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virtualinherited |
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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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protectedinherited |
Children of this entity.
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protectedinherited |
All the introspection items regsitered for this.
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protectedinherited |
Parent of this entity.
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protectedinherited |
The SDF values for this object.
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protectedinherited |
Pointer to the world.