Simbody collisions. More...

#include <SimbodyCollision.hh>

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
	SimbodyCollision (LinkPtr _parent)
	Constructor. More...

virtual	~SimbodyCollision ()
	Destructor. More...

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

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

virtual ignition::math::AxisAlignedBox	BoundingBox () const
	Get the bounding box for this collision. More...

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

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

void	FillMsg (msgs::Collision &_msg)
	Fill a collision message. More...

virtual void	Fini () override
	Finalize the collision. 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...

SimTK::ContactGeometry *	GetCollisionShape () const
	Get the simbody collision shape. More...

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

float	GetLaserRetro () const
	Get the laser retro reflectiveness. More...

LinkPtr	GetLink () const
	Get the link this collision belongs to. More...

virtual unsigned int	GetMaxContacts ()
	returns number of contacts allowed for this collision. More...

ModelPtr	GetModel () const
	Get the model this collision belongs to. 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...

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...

ShapePtr	GetShape () const
	Get the collision shape. More...

unsigned int	GetShapeType () const
	Get the shape type. More...

CollisionState	GetState ()
	Get the collision state. More...

SurfaceParamsPtr	GetSurface () const
	Get the surface parameters. More...

unsigned int	GetType () const
	Get the full type definition. 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 () override
	Initialize the collision. 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	IsPlaceable () const
	Return whether this collision is movable. More...

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

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

virtual void	Load (sdf::ElementPtr _ptr)
	Load the collision. More...

virtual void	OnPoseChange ()
	This function is called when the entity's (or one of its parents) pose of the parent has changed. 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	Print (const std::string &_prefix)
	Print this object to screen via gzmsg. More...

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

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

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

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

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

ignition::math::Pose3d	RelativePose () const
	Get the pose of the entity relative to its parent. 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 entity. 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 override
	Get the SDF SemanticPose object associated with the pose of this object. 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	SetCanonicalLink (bool _value)
	Set to true if this entity is a canonical link for a model. More...

virtual void	SetCategoryBits (unsigned int _bits)
	Set the category bits, used during collision detection. More...

virtual void	SetCollideBits (unsigned int _bits)
	Set the collide bits, used during collision detection. More...

void	SetCollision (bool _placeable)
	Set the encapsulated collision object. More...

void	SetCollisionShape (SimTK::ContactGeometry *_shape)
	Set the collision shape. More...

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

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

virtual void	SetMaxContacts (unsigned int _maxContacts)
	Number of contacts allowed for this collision. More...

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

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

void	SetPlaceable (const bool _placeable)
	Set if this object is moveable. 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)
	Set the scale of the collision. More...

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

void	SetShape (ShapePtr _shape)
	Set the shape for this collision. More...

void	SetState (const CollisionState &_state)
	Set the current collision state. More...

void	SetStatic (const bool &_static)
	Set whether this entity is static: immovable. 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	SetWorldPoseDirty ()
	Indicate that the world pose should be recalculated. 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...

virtual void	StopAnimation ()
	Stop the current animation, if any. 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) override
	Update the parameters using new sdf values. More...

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

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

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

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

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

virtual const ignition::math::Pose3d &	WorldPose () const override
	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	RegisterIntrospectionItems ()
	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...

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...

LinkPtr	link
	The link this collision belongs to. 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...

bool	placeable
	Flag for placeable. 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...

ShapePtr	shape
	Pointer to physics::Shape. More...

SurfaceParamsPtr	surface
	The surface parameters. 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

Simbody collisions.

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

◆ SimbodyCollision()

SimbodyCollision ( LinkPtr _parent )

explicit

Constructor.

◆ ~SimbodyCollision()

virtual ~SimbodyCollision ( )

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().

◆ BoundingBox()

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

virtual

Get the bounding box for this collision.

Returns: The bounding box.

Implements Collision.

◆ 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().

◆ 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()

void FillMsg ( msgs::Collision & _msg )

inherited

Fill a collision message.

Parameters

[out] _msg The message to fill with this collision's data.

◆ Fini()

virtual void Fini ( )

overridevirtualinherited

Finalize the collision.

Reimplemented from Entity.

Reimplemented in DARTCollision, and ODECollision.

◆ 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.

◆ GetCollisionShape()

SimTK::ContactGeometry* GetCollisionShape ( ) const

Get the simbody collision shape.

Returns: SimTK geometry used as the collision shape.

◆ GetId()

uint32_t GetId ( ) const

inherited

Return the ID of this entity.

This id is unique.

Returns: Integer ID.

Referenced by Base::Update().

◆ GetLaserRetro()

float GetLaserRetro ( ) const

inherited

Get the laser retro reflectiveness.

Returns: The laser retro value.

◆ GetLink()

LinkPtr GetLink ( ) const

inherited

Get the link this collision belongs to.

Returns: The parent Link.

◆ GetMaxContacts()

virtual unsigned int GetMaxContacts ( )

virtualinherited

returns number of contacts allowed for this collision.

This overrides global value (in PhysicsEngine) if specified.

Returns: max num contacts allowed for this collision.

Referenced by Collision::GetSurface().

◆ GetModel()

ModelPtr GetModel ( ) const

inherited

Get the model this collision belongs to.

Returns: The parent 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.

◆ 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 ( )

virtualinherited

Get the SDF values for the object.

Returns: The SDF values for the object.

Reimplemented in Actor, and Model.

Referenced by Base::Update().

◆ GetShape()

ShapePtr GetShape ( ) const

inherited

Get the collision shape.

Returns: The collision shape.

◆ GetShapeType()

unsigned int GetShapeType ( ) const

inherited

Get the shape type.

Returns: The shape type.

See also: EntityType

◆ GetState()

CollisionState GetState ( )

inherited

Get the collision state.

Returns: The collision state.

◆ GetSurface()

SurfaceParamsPtr GetSurface ( ) const

inlineinherited

Get the surface parameters.

Returns: The surface parameters.

References Collision::GetMaxContacts(), Collision::SDFSemanticPose(), Collision::SetMaxContacts(), Collision::SetWorldPoseDirty(), Collision::surface, and Collision::WorldPose().

◆ 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().

◆ 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 ( )

overridevirtualinherited

Initialize the collision.

Reimplemented from Base.

Reimplemented in DARTCollision.

◆ 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.

◆ IsPlaceable()

bool IsPlaceable ( ) const

inherited

Return whether this collision is movable.

Example on an immovable object is a ray.

Returns: True if the object is immovable.

◆ 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()

virtual void Load ( sdf::ElementPtr _sdf )

virtual

Load the collision.

Parameters

[in] _sdf SDF to load from.

Reimplemented from Collision.

◆ OnPoseChange()

virtual void OnPoseChange ( )

virtual

This function is called when the entity's (or one of its parents) pose of the parent has 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.

◆ 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::Collision & _msg )

inherited

Update parameters from a message.

Parameters

[in] _msg Message to update from.

◆ RegisterIntrospectionItems()

virtual void RegisterIntrospectionItems ( )

protectedvirtualinherited

Register items in the introspection service.

Reimplemented in Link, Joint, and Model.

Referenced by Base::Update().

◆ RelativeAngularAccel()

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

overridevirtualinherited

Get the angular acceleration of the collision.

Returns: The angular acceleration of the collision.

Reimplemented from Entity.

◆ RelativeAngularVel()

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

overridevirtualinherited

Get the angular velocity of the collision.

Returns: The angular velocity of the collision.

Reimplemented from Entity.

◆ RelativeLinearAccel()

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

overridevirtualinherited

Get the linear acceleration of the collision.

Returns: The linear acceleration of the collision.

Reimplemented from Entity.

◆ RelativeLinearVel()

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

overridevirtualinherited

Get the linear velocity of the collision.

Returns: The linear velocity relative to the parent model.

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() [1/3]

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() [2/3]

void RemoveChild ( const std::string & _name )

inherited

Remove a child by name.

Parameters

[in] _name Name of the child.

◆ RemoveChild() [3/3]

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().

◆ Reset() [1/2]

virtual void Reset ( )

virtualinherited

Reset the entity.

Reimplemented from Base.

Reimplemented in Actor, Model, and Link.

◆ 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

◆ 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()

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

overridevirtualinherited

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.

Referenced by Collision::GetSurface().

◆ 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.

◆ 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.

◆ SetCategoryBits()

virtual void SetCategoryBits ( unsigned int _bits )

virtual

Set the category bits, used during collision detection.

Parameters

[in] _bits The bits to set.

Implements Collision.

◆ SetCollideBits()

virtual void SetCollideBits ( unsigned int _bits )

virtual

Set the collide bits, used during collision detection.

Parameters

[in] _bits The bits to set.

Implements Collision.

◆ SetCollision()

void SetCollision ( bool _placeable )

inherited

Set the encapsulated collision object.

Has a side effect of changing the collision bit masks

Parameters

[in] _placeable True to make the object movable.

◆ SetCollisionShape()

void SetCollisionShape ( SimTK::ContactGeometry * _shape )

Set the collision shape.

Parameters

[in] _shape SimTK geometry to use as the collision SimTK geometry to use as the collision shape.

◆ SetInitialRelativePose()

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

inherited

Set the initial pose.

Parameters

[in] _pose The initial pose.

◆ SetLaserRetro()

void SetLaserRetro ( float _retro )

inherited

Set the laser retro reflectiveness.

Parameters

[in] _retro The laser retro value.

◆ SetMaxContacts()

virtual void SetMaxContacts ( unsigned int _maxContacts )

virtualinherited

Number of contacts allowed for this collision.

This overrides global value (in PhysicsEngine) if specified.

Parameters

[in] _maxContacts max num contacts allowed for this collision.

Referenced by Collision::GetSurface().

◆ 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().

◆ SetPlaceable()

void SetPlaceable ( const bool _placeable )

inherited

Set if this object is moveable.

Parameters

[in] _placeable True to make the object movable.

◆ 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 )

inherited

Set the scale of the collision.

Parameters

[in] _scale Scale to set the collision to.

◆ 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().

◆ SetShape()

void SetShape ( ShapePtr _shape )

inherited

Set the shape for this collision.

Parameters

[in] _shape The shape for this collision object.

◆ SetState()

void SetState ( const CollisionState & _state )

inherited

Set the current collision state.

Parameters

[in] The collision state.

◆ SetStatic()

void SetStatic ( const bool & _static )

inherited

Set whether this entity is static: immovable.

Parameters

[in] _static True = static.

Referenced by Link::UpdateSurface().

◆ 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.

◆ SetWorldPoseDirty()

void SetWorldPoseDirty ( )

inherited

Indicate that the world pose should be recalculated.

The recalculation will be done when Collision::GetWorldPose is called.

Referenced by Collision::GetSurface().

◆ 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.

◆ StopAnimation()

virtual void StopAnimation ( )

virtualinherited

Stop the current animation, if any.

Reimplemented in Model.

◆ 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().

◆ Update()

virtual void Update ( )

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().

◆ UpdateParameters()

virtual void UpdateParameters ( sdf::ElementPtr _sdf )

overridevirtualinherited

Update the parameters using new sdf values.

Parameters

[in] _sdf SDF values to update from.

Reimplemented from Entity.

◆ 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().

◆ WorldAngularAccel()

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

overridevirtualinherited

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

Returns: The angular acceleration of the collision in the world frame.

Reimplemented from Entity.

◆ WorldAngularVel()

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

overridevirtualinherited

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

Returns: The angular velocity of the collision in the world frame.

Reimplemented from Entity.

◆ WorldLinearAccel()

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

overridevirtualinherited

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

Returns: The linear acceleration of the collision in the world frame.

Reimplemented from Entity.

◆ WorldLinearVel()

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

overridevirtualinherited

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

Returns: The linear velocity of the collision in the world frame.

Reimplemented from Entity.

◆ WorldPose()

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

overridevirtualinherited

Get the absolute pose of the entity.

Returns: The absolute pose of the entity.

Reimplemented from Entity.

Referenced by ODEPlaneShape::CreatePlane(), and Collision::GetSurface().

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.

◆ 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.

◆ link

LinkPtr link

protectedinherited

The link this collision belongs to.

◆ 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.

◆ placeable

bool placeable

protectedinherited

Flag for placeable.

◆ 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.

◆ shape

ShapePtr shape

protectedinherited

Pointer to physics::Shape.

◆ surface

SurfaceParamsPtr surface

protectedinherited

The surface parameters.

Referenced by Collision::GetSurface().

◆ 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:

SimbodyCollision.hh

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ EntityType

Constructor & Destructor Documentation

◆ SimbodyCollision()

◆ ~SimbodyCollision()

Member Function Documentation

◆ AddChild()

◆ AddType()

◆ BoundingBox()

◆ CollisionBoundingBox()

◆ ComputeScopedName()

◆ DirtyPose()

◆ FillMsg()

◆ Fini()

◆ GetByName()

◆ GetChild() [1/2]

◆ GetChild() [2/2]

◆ GetChildCollision()

◆ GetChildCount()

◆ GetChildLink()

◆ GetCollisionShape()

◆ GetId()

◆ GetLaserRetro()

◆ GetLink()

◆ GetMaxContacts()

◆ GetModel()

◆ GetName()

◆ GetNearestEntityBelow()

◆ GetParent()

◆ GetParentId()

◆ GetParentModel()

◆ GetSaveable()

◆ GetScopedName()

◆ GetSDF()

◆ GetShape()

◆ GetShapeType()

◆ GetState()

◆ GetSurface()

◆ GetType()

◆ GetWorld()

◆ HasType()

◆ Init()

◆ InitialRelativePose()

◆ IsCanonicalLink()

◆ IsPlaceable()

◆ IsSelected()

◆ IsStatic()

◆ Load()

◆ OnPoseChange()

◆ operator==()

◆ PlaceOnEntity()

◆ PlaceOnNearestEntityBelow()

◆ Print()

◆ ProcessMsg()

◆ RegisterIntrospectionItems()

◆ RelativeAngularAccel()

◆ RelativeAngularVel()

◆ RelativeLinearAccel()

◆ RelativeLinearVel()

◆ RelativePose()

◆ RemoveChild() [1/3]

◆ RemoveChild() [2/3]

◆ RemoveChild() [3/3]

◆ RemoveChildren()

◆ Reset() [1/2]

◆ Reset() [2/2]

◆ SDFPoseRelativeToParent()

◆ SDFSemanticPose()

◆ SetAnimation() [1/2]

◆ SetAnimation() [2/2]

◆ SetCanonicalLink()

◆ SetCategoryBits()

◆ SetCollideBits()

◆ SetCollision()

◆ SetCollisionShape()