The world provides access to all other object within a simulated environment. More...

#include <physics/physics.hh>

Inherits enable_shared_from_this< World >.

Public Member Functions
	World (const std::string &_name="")
	Constructor. More...

	~World ()
	Destructor. More...

void	_AddDirty (Entity *_entity)

void	_SetSensorsInitialized (const bool _init)

physics::Atmosphere &	Atmosphere () const
	Get a reference to the atmosphere model used by the world. More...

bool	AtmosphereEnabled () const
	check if atmosphere model is enabled/disabled. More...

BasePtr	BaseByName (const std::string &_name) const
	Get an element by name. More...

void	Clear ()
	Remove all entities from the world. More...

void	ClearModels ()
	Remove all entities from the world. More...

void	DisableAllModels ()
	Disable all links in all the models. More...

void	EnableAllModels ()
	Enable all links in all the models. More...

EntityPtr	EntityBelowPoint (const ignition::math::Vector3d &_pt) const
	Get the nearest entity below a point. More...

EntityPtr	EntityByName (const std::string &_name) const
	Get a pointer to an Entity based on a name. More...

void	Fini ()
	Finalize the world. More...

const sdf::World *	GetSDFDom () const
	Get the SDF DOM for the world. More...

ignition::math::Vector3d	Gravity () const
	Return the gravity vector. More...

void	Init () GAZEBO_DEPRECATED(11.0)
	Initialize the world. More...

void	Init (UpdateScenePosesFunc _func)
	Initialize the world. More...

void	InsertModelFile (const std::string &_sdfFilename)
	Insert a model from an SDF file. More...

void	InsertModelSDF (const sdf::SDF &_sdf)
	Insert a model using SDF. More...

void	InsertModelString (const std::string &_sdfString)
	Insert a model from an SDF string. More...

bool	IsLoaded () const
	Return true if the world has been loaded. More...

bool	IsPaused () const
	Returns the state of the simulation true if paused. More...

uint32_t	Iterations () const
	Get the total number of iterations. More...

LightPtr	LightByName (const std::string &_name) const
	Get a light by name. More...

unsigned int	LightCount () const
	Get the number of lights. More...

Light_V	Lights () const
	Get a list of all the lights. More...

void	Load (sdf::ElementPtr _sdf)
	Load the world using SDF parameters. More...

LightPtr	LoadLight (const sdf::ElementPtr &_sdf, const BasePtr &_parent)
	Load a light. More...

void	LoadPlugin (const std::string &_filename, const std::string &_name, sdf::ElementPtr _sdf)
	Load a plugin. More...

ignition::math::Vector3d	MagneticField () const
	Return the magnetic field vector. More...

ModelPtr	ModelBelowPoint (const ignition::math::Vector3d &_pt) const
	Get the nearest model below and not encapsulating a point. More...

ModelPtr	ModelByIndex (const unsigned int _index) const
	Get a model based on an index. More...

ModelPtr	ModelByName (const std::string &_name) const
	Get a model by name. More...

unsigned int	ModelCount () const
	Get the number of models. More...

Model_V	Models () const
	Get a list of all the models. More...

std::string	Name () const
	Get the name of the world. More...

common::Time	PauseTime () const
	Get the amount of time simulation has been paused. More...

PhysicsEnginePtr	Physics () const
	Return the physics engine. More...

bool	PhysicsEnabled () const
	check if physics engine is enabled/disabled. More...

PresetManagerPtr	PresetMgr () const
	Return the preset manager. More...

void	PrintEntityTree ()
	Print Entity tree. More...

void	PublishLightPose (const physics::LightPtr _light)
	Publish pose updates for a light. More...

void	PublishModelPose (physics::ModelPtr _model)
	Publish pose updates for a model. More...

void	PublishModelScale (physics::ModelPtr _model)
	Publish scale updates for a model. More...

common::Time	RealTime () const
	Get the real time (elapsed time). More...

void	RemoveModel (ModelPtr _model)
	Remove a model. More...

void	RemoveModel (const std::string &_name)
	Remove a model by name. More...

void	RemovePlugin (const std::string &_name)
	Remove a running plugin. More...

void	Reset ()
	Reset time and model poses, configurations in simulation. More...

void	ResetEntities (Base::EntityType _type=Base::BASE)
	Reset with options. More...

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

void	ResetTime ()
	Reset simulation time back to zero. More...

void	Run (const unsigned int _iterations=0)
	Run the world in a thread. More...

void	RunBlocking (const unsigned int _iterations=0)
	Run the world. More...

bool	Running () const
	Return the running state of the world. More...

void	Save (const std::string &_filename)
	Save a world to a file. More...

msgs::Scene	SceneMsg () const
	Get the current scene in message form. More...

const sdf::ElementPtr	SDF ()
	Get the SDF of the world in the current state. More...

bool	SensorsInitialized () const
	Get whether sensors have been initialized. More...

void	SetAtmosphereEnabled (const bool _enable)
	enable/disable atmosphere model. More...

void	SetGravity (const ignition::math::Vector3d &_gravity)
	Set the gravity vector. More...

void	SetGravitySDF (const ignition::math::Vector3d &_gravity)
	Set the gravity sdf value. More...

void	SetMagneticField (const ignition::math::Vector3d &_mag)
	Set the magnetic field vector. More...

void	SetPaused (const bool _p)
	Set whether the simulation is paused. More...

void	SetPhysicsEnabled (const bool _enable)
	enable/disable physics engine during World::Update. More...

void	SetSimTime (const common::Time &_t)
	Set the sim time. More...

void	SetState (const WorldState &_state)
	Set the current world state. More...

void	SetWindEnabled (const bool _enable)
	enable/disable wind. More...

common::Time	SimTime () const
	Get the world simulation time, note if you want the PC wall clock call common::Time::GetWallTime. More...

common::SphericalCoordinatesPtr	SphericalCoords () const
	Return the spherical coordinates converter. More...

common::Time	StartTime () const
	Get the wall time simulation was started. More...

void	Step (const unsigned int _steps)
	Step the world forward in time. More...

void	Stop ()
	Stop the world. More...

std::string	StripWorldName (const std::string &_name) const
	Return a version of the name with "<world_name>::" removed. More...

std::string	UniqueModelName (const std::string &_name)
	Get a model name which doesn't equal any existing model's name, by appending numbers to the given name. More...

void	UpdateStateSDF ()
	Update the state SDF value from the current state. More...

common::URI	URI () const
	Return the URI of the world. More...

physics::Wind &	Wind () const
	Get a reference to the wind used by the world. More...

bool	WindEnabled () const
	check if wind is enabled/disabled. More...

std::mutex &	WorldPoseMutex () const
	Get the set world pose mutex. More...

Detailed Description

The world provides access to all other object within a simulated environment.

The World is the container for all models and their components (links, joints, sensors, plugins, etc), and WorldPlugin instances. Many core function are also handled in the World, including physics update, model updates, and message processing.

Constructor & Destructor Documentation

◆ World()

World ( const std::string & _name = "" )

explicit

Constructor.

Constructor for the World. Must specify a unique name.

Parameters

[in] _name Name of the world.

◆ ~World()

~World ( )

Destructor.

Member Function Documentation

◆ _AddDirty()

void _AddDirty ( Entity * _entity )

◆ _SetSensorsInitialized()

void _SetSensorsInitialized ( const bool _init )

◆ Atmosphere()

physics::Atmosphere& Atmosphere ( ) const

Get a reference to the atmosphere model used by the world.

Returns: Reference to the atmosphere model.

◆ AtmosphereEnabled()

bool AtmosphereEnabled ( ) const

check if atmosphere model is enabled/disabled.

Parameters

True	if the atmosphere model is enabled.

◆ BaseByName()

BasePtr BaseByName ( const std::string & _name ) const

Get an element by name.

Searches the list of entities, and return a pointer to the model with a matching _name.

Parameters

[in] _name The name of the Model to find.

Returns: A pointer to the entity, or NULL if no entity was found.

◆ Clear()

void Clear ( )

Remove all entities from the world.

This function has delayed effect. Models are cleared at the end of the current update iteration.

◆ ClearModels()

void ClearModels ( )

Remove all entities from the world.

Implementation of World::Clear

◆ DisableAllModels()

void DisableAllModels ( )

Disable all links in all the models.

Disable is a physics concept. Disabling means that the physics engine should not update an entity.

◆ EnableAllModels()

void EnableAllModels ( )

Enable all links in all the models.

Enable is a physics concept. Enabling means that the physics engine should update an entity.

◆ EntityBelowPoint()

EntityPtr EntityBelowPoint ( const ignition::math::Vector3d & _pt ) const

Get the nearest entity below a point.

Projects a Ray down (-Z axis) starting at the given point. The first entity hit by the Ray is returned.

Parameters

[in] _pt The 3D point to search below

Returns: A pointer to nearest Entity, NULL if none is found.

◆ EntityByName()

EntityPtr EntityByName ( const std::string & _name ) const

Get a pointer to an Entity based on a name.

This function is the same as BaseByName, but limits the search to only Entities.

Parameters

[in] _name The name of the Entity to find.

Returns: A pointer to the Entity, or NULL if no Entity was found.

◆ Fini()

void Fini ( )

Finalize the world.

Call this function to tear-down the world.

◆ GetSDFDom()

const sdf::World* GetSDFDom ( ) const

Get the SDF DOM for the world.

Returns: The SDF DOM for this world.

◆ Gravity()

ignition::math::Vector3d Gravity ( ) const

Return the gravity vector.

Returns: The gravity vector.

◆ Init() [1/2]

void Init ( )

Initialize the world.

This is called after Load.

Deprecated:: See Init(UpdateScenePosesFunc)

◆ Init() [2/2]

void Init ( UpdateScenePosesFunc _func )

Initialize the world.

This is called after Load.

Parameters

[in] _func function to be called when Poses are available.

◆ InsertModelFile()

void InsertModelFile ( const std::string & _sdfFilename )

Insert a model from an SDF file.

Spawns a model into the world base on and SDF file.

Parameters

[in] _sdfFilename The name of the SDF file (including path).

◆ InsertModelSDF()

void InsertModelSDF ( const sdf::SDF & _sdf )

Insert a model using SDF.

Spawns a model into the world base on and SDF object.

Parameters

[in] _sdf A reference to an SDF object.

◆ InsertModelString()

void InsertModelString ( const std::string & _sdfString )

Insert a model from an SDF string.

Spawns a model into the world base on and SDF string.

Parameters

[in] _sdfString A string containing valid SDF markup.

◆ IsLoaded()

bool IsLoaded ( ) const

Return true if the world has been loaded.

Returns: True if World::Load has completed.

◆ IsPaused()

bool IsPaused ( ) const

Returns the state of the simulation true if paused.

Returns: True if paused.

◆ Iterations()

uint32_t Iterations ( ) const

Get the total number of iterations.

Returns: Number of iterations that simulation has taken.

◆ LightByName()

LightPtr LightByName ( const std::string & _name ) const

Get a light by name.

This function is the same as BaseByName(), but limits the search to only lights.

Parameters

[in] _name The name of the Light to find.

Returns: A pointer to the Light, or NULL if no light was found.

◆ LightCount()

unsigned int LightCount ( ) const

Get the number of lights.

Returns: The number of lights in the World.

◆ Lights()

Light_V Lights ( ) const

Get a list of all the lights.

Returns: A list of all the Lights in the world.

◆ Load()

void Load ( sdf::ElementPtr _sdf )

Load the world using SDF parameters.

Load a world from and SDF pointer.

Parameters

[in] _sdf SDF parameters.

◆ LoadLight()

LightPtr LoadLight	(	const sdf::ElementPtr &	_sdf,
		const BasePtr &	_parent
	)

Load a light.

Parameters

[in]	_sdf	SDF element containing the Light description.
[in]	_parent	Parent of the light.

Returns: Pointer to the newly created Light.

◆ LoadPlugin()

void LoadPlugin	(	const std::string &	_filename,
		const std::string &	_name,
		sdf::ElementPtr	_sdf
	)

Load a plugin.

Parameters

[in]	_filename	The filename of the plugin.
[in]	_name	A unique name for the plugin.
[in]	_sdf	The SDF to pass into the plugin.

◆ MagneticField()

ignition::math::Vector3d MagneticField ( ) const

Return the magnetic field vector.

Returns: The magnetic field vector.

◆ ModelBelowPoint()

ModelPtr ModelBelowPoint ( const ignition::math::Vector3d & _pt ) const

Get the nearest model below and not encapsulating a point.

Only objects below the start point can be returned. Any object that encapsulates the start point can not be returned from this function. This function makes use of World::GetEntityBelowPoint.

Parameters

[in] _pt The 3D point to search below.

Returns: A pointer to nearest Model, NULL if none is found.

◆ ModelByIndex()

ModelPtr ModelByIndex ( const unsigned int _index ) const

Get a model based on an index.

Get a Model using an index, where index must be greater than zero and less than World::ModelCount()

Parameters

[in] _index The index of the model [0..GetModelCount)

Returns: A pointer to the Model. NULL if _index is invalid.

◆ ModelByName()

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

Get a model by name.

This function is the same as BaseByName, but limits the search to only models.

Parameters

[in] _name The name of the Model to find.

Returns: A pointer to the Model, or NULL if no model was found.

◆ ModelCount()

unsigned int ModelCount ( ) const

Get the number of models.

Returns: The number of models in the World.

◆ Models()

Model_V Models ( ) const

Get a list of all the models.

Returns: A list of all the Models in the world.

◆ Name()

std::string Name ( ) const

Get the name of the world.

Returns: The name of the world.

◆ PauseTime()

common::Time PauseTime ( ) const

Get the amount of time simulation has been paused.

Returns: The pause time.

◆ Physics()

PhysicsEnginePtr Physics ( ) const

Return the physics engine.

Get a pointer to the physics engine used by the world.

Returns: Pointer to the physics engine.

◆ PhysicsEnabled()

bool PhysicsEnabled ( ) const

check if physics engine is enabled/disabled.

Parameters

True	if the physics engine is enabled.

◆ PresetMgr()

PresetManagerPtr PresetMgr ( ) const

Return the preset manager.

Returns: Pointer to the preset manager.

◆ PrintEntityTree()

void PrintEntityTree ( )

Print Entity tree.

Prints alls the entities to stdout.

◆ PublishLightPose()

void PublishLightPose ( const physics::LightPtr _light )

Publish pose updates for a light.

Adds light to a list of lights to publish, which is processed and cleared once every iteration.

Parameters

[in] _light Pointer to the light to publish.

◆ PublishModelPose()

void PublishModelPose ( physics::ModelPtr _model )

Publish pose updates for a model.

This list of models to publish is processed and cleared once every iteration.

Parameters

[in] _model Pointer to the model to publish.

◆ PublishModelScale()

void PublishModelScale ( physics::ModelPtr _model )

Publish scale updates for a model.

This list of models to publish is processed and cleared once every iteration.

Parameters

[in] _model Pointer to the model to publish.

◆ RealTime()

common::Time RealTime ( ) const

Get the real time (elapsed time).

Returns: The real time.

◆ RemoveModel() [1/2]

void RemoveModel ( ModelPtr _model )

Remove a model.

This function will block until the physics engine is not locked. The duration of the block is less than the time to complete a simulation iteration.

Parameters

[in] _model Pointer to a model to remove.

◆ RemoveModel() [2/2]

void RemoveModel ( const std::string & _name )

Remove a model by name.

This function will block until the physics engine is not locked. The duration of the block is less than the time to complete a simulation iteration.

Parameters

[in] _name Name of the model to remove.

◆ RemovePlugin()

void RemovePlugin ( const std::string & _name )

Remove a running plugin.

Parameters

[in] _name The unique name of the plugin to remove.

◆ Reset()

void Reset ( )

Reset time and model poses, configurations in simulation.

◆ ResetEntities()

void ResetEntities ( Base::EntityType _type = Base::BASE )

Reset with options.

The _type parameter specifies which type of eneities to reset. See Base::EntityType.

Parameters

[in] _type The type of reset.

◆ ResetPhysicsStates()

void ResetPhysicsStates ( )

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

◆ ResetTime()

void ResetTime ( )

Reset simulation time back to zero.

◆ Run()

void Run ( const unsigned int _iterations = 0 )

Run the world in a thread.

Run the update loop.

Parameters

[in] _iterations Run for this many iterations, then stop. A value of zero disables run stop.

◆ RunBlocking()

void RunBlocking ( const unsigned int _iterations = 0 )

Run the world.

This call blocks. Run the update loop.

Parameters

[in] _iterations Run for this many iterations, then stop. A value of zero disables run stop.

◆ Running()

bool Running ( ) const

Return the running state of the world.

Returns: True if the world is running.

◆ Save()

void Save ( const std::string & _filename )

Save a world to a file.

Save the current world and its state to a file.

Parameters

[in] _filename Name of the file to save into.

◆ SceneMsg()

msgs::Scene SceneMsg ( ) const

Get the current scene in message form.

Returns: The scene state as a protobuf message.

◆ SDF()

const sdf::ElementPtr SDF ( )

Get the SDF of the world in the current state.

Returns: The SDF

◆ SensorsInitialized()

bool SensorsInitialized ( ) const

Get whether sensors have been initialized.

Returns: True if sensors have been initialized.

◆ SetAtmosphereEnabled()

void SetAtmosphereEnabled ( const bool _enable )

enable/disable atmosphere model.

Parameters

[in] _enable True to enable the atmosphere model.

◆ SetGravity()

void SetGravity ( const ignition::math::Vector3d & _gravity )

Set the gravity vector.

Parameters

[in] _gravity New gravity vector.

◆ SetGravitySDF()

void SetGravitySDF ( const ignition::math::Vector3d & _gravity )

Set the gravity sdf value.

Parameters

[in] _gravity New gravity vector.

◆ SetMagneticField()

void SetMagneticField ( const ignition::math::Vector3d & _mag )

Set the magnetic field vector.

Parameters

[in] _mag New magnetic field vector.

◆ SetPaused()

void SetPaused ( const bool _p )

Set whether the simulation is paused.

Parameters

[in] _p True pauses the simulation. False runs the simulation.

◆ SetPhysicsEnabled()

void SetPhysicsEnabled ( const bool _enable )

enable/disable physics engine during World::Update.

Parameters

[in] _enable True to enable the physics engine.

◆ SetSimTime()

void SetSimTime ( const common::Time & _t )

Set the sim time.

Parameters

[in] _t The new simulation time

◆ SetState()

void SetState ( const WorldState & _state )

Set the current world state.

Parameters

_state The state to set the World to.

◆ SetWindEnabled()

void SetWindEnabled ( const bool _enable )

enable/disable wind.

Parameters

[in] _enable True to enable the wind.

◆ SimTime()

common::Time SimTime ( ) const

Get the world simulation time, note if you want the PC wall clock call common::Time::GetWallTime.

Returns: The current simulation time

◆ SphericalCoords()

common::SphericalCoordinatesPtr SphericalCoords ( ) const

Return the spherical coordinates converter.

Returns: Pointer to the spherical coordinates converter.

◆ StartTime()

common::Time StartTime ( ) const

Get the wall time simulation was started.

Returns: The start time.

◆ Step()

void Step ( const unsigned int _steps )

Step the world forward in time.

Parameters

[in] _steps The number of steps the World should take.

◆ Stop()

void Stop ( )

Stop the world.

Request the update loop thread to stop. Wait for it to join if this function is called from another thread. Return immediately otherwise.

◆ StripWorldName()

std::string StripWorldName ( const std::string & _name ) const

Return a version of the name with "<world_name>::" removed.

Parameters

[in] _name Usually the name of an entity.

Returns: The stripped world name.

◆ UniqueModelName()

std::string UniqueModelName ( const std::string & _name )

Get a model name which doesn't equal any existing model's name, by appending numbers to the given name.

If _name is already unique, the returned value is the same.

Parameters

[in] _name Desired model name.

Returns: Unique model name.

◆ UpdateStateSDF()

void UpdateStateSDF ( )

Update the state SDF value from the current state.

◆ URI()

common::URI URI ( ) const

Return the URI of the world.

Returns: URI of this world.

◆ Wind()

physics::Wind& Wind ( ) const

Get a reference to the wind used by the world.

Returns: Reference to the wind.

◆ WindEnabled()

bool WindEnabled ( ) const

check if wind is enabled/disabled.

Parameters

True	if the wind is enabled.

◆ WorldPoseMutex()

std::mutex& WorldPoseMutex ( ) const

Get the set world pose mutex.

Returns: Reference to the mutex.

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

World.hh

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ World()

◆ ~World()

Member Function Documentation

◆ _AddDirty()

◆ _SetSensorsInitialized()

◆ Atmosphere()

◆ AtmosphereEnabled()

◆ BaseByName()

◆ Clear()

◆ ClearModels()

◆ DisableAllModels()

◆ EnableAllModels()

◆ EntityBelowPoint()

◆ EntityByName()

◆ Fini()

◆ GetSDFDom()

◆ Gravity()

◆ Init() [1/2]

◆ Init() [2/2]

◆ InsertModelFile()

◆ InsertModelSDF()

◆ InsertModelString()

◆ IsLoaded()

◆ IsPaused()

◆ Iterations()

◆ LightByName()

◆ LightCount()

◆ Lights()

◆ Load()

◆ LoadLight()

◆ LoadPlugin()

◆ MagneticField()

◆ ModelBelowPoint()

◆ ModelByIndex()

◆ ModelByName()

◆ ModelCount()

◆ Models()

◆ Name()

◆ PauseTime()

◆ Physics()

◆ PhysicsEnabled()

◆ PresetMgr()

◆ PrintEntityTree()

◆ PublishLightPose()

◆ PublishModelPose()

◆ PublishModelScale()

◆ RealTime()

◆ RemoveModel() [1/2]

◆ RemoveModel() [2/2]

◆ RemovePlugin()

◆ Reset()

◆ ResetEntities()

◆ ResetPhysicsStates()

◆ ResetTime()

◆ Run()

◆ RunBlocking()

◆ Running()

◆ Save()

◆ SceneMsg()

◆ SDF()

◆ SensorsInitialized()

◆ SetAtmosphereEnabled()

◆ SetGravity()

◆ SetGravitySDF()

◆ SetMagneticField()

◆ SetPaused()

◆ SetPhysicsEnabled()

◆ SetSimTime()

◆ SetState()

◆ SetWindEnabled()

◆ SimTime()

◆ SphericalCoords()

◆ StartTime()

◆ Step()

◆ Stop()

◆ StripWorldName()

◆ UniqueModelName()