WorldState Class Reference

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

#include <physics/physics.hh>

Inherits State.

Public Member Functions

 WorldState ()
 Default constructor. More...
 
 WorldState (const WorldPtr _world)
 Constructor. More...
 
 WorldState (const sdf::ElementPtr _sdf)
 Constructor. More...
 
virtual ~WorldState ()
 Destructor. More...
 
const std::vector< std::string > & Deletions () const
 Get the vector of SDF deletions. 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...
 
LightState GetLightState (const std::string &_lightName) const
 Get a light state by light name. More...
 
ModelState GetModelState (const std::string &_modelName) const
 Get a model state by model name. More...
 
unsigned int GetModelStateCount () const
 Get the number of model states. More...
 
ModelState_M GetModelStates (const boost::regex &_regex) const
 Get model states based on a regular expression. More...
 
const ModelState_MGetModelStates () const
 Get the model 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 HasLightState (const std::string &_lightName) const
 Return true if WorldState has a LightState with the given name. More...
 
bool HasModelState (const std::string &_modelName) const
 Return true if WorldState has a ModelState with the given name. More...
 
const std::vector< std::string > & Insertions () const
 Get the vector of SDF insertions. More...
 
bool IsZero () const
 Return true if the values in the state are zero. More...
 
unsigned int LightStateCount () const
 Get the number of light states. More...
 
const LightState_MLightStates () const
 Get the light states. More...
 
void Load (const WorldPtr _world)
 Load from a World pointer. More...
 
virtual void Load (const sdf::ElementPtr _elem)
 Load state from SDF element. More...
 
void LoadWithFilter (const WorldPtr _world, const std::string &_filter)
 Load from a World pointer. More...
 
WorldState operator+ (const WorldState &_state) const
 Addition operator. More...
 
State operator- (const State &_state) const
 Subtraction operator. More...
 
WorldState operator- (const WorldState &_state) const
 Subtraction operator. More...
 
WorldStateoperator= (const WorldState &_state)
 Assignment operator. More...
 
void SetDeletions (const std::vector< std::string > &_deletions)
 Set a new vector of SDF deletions. More...
 
void SetInsertions (const std::vector< std::string > &_insertions)
 Set a new vector of SDF insertions. More...
 
virtual void SetIterations (const uint64_t _iterations)
 Set the simulation interations 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...
 
void SetWorld (const WorldPtr _world)
 Set the world. 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::WorldState &_state)
 Stream insertion operator. More...
 

Detailed Description

Store state information of a physics::World object.

Instances of this class contain the state of a World at a specific time. World state includes the state of all models, and their children.

Constructor & Destructor Documentation

◆ WorldState() [1/3]

Default constructor.

◆ WorldState() [2/3]

WorldState ( const WorldPtr  _world)
explicit

Constructor.

Generate a WorldState from an instance of a World.

Parameters
[in]_worldPointer to a world

◆ WorldState() [3/3]

WorldState ( const sdf::ElementPtr  _sdf)
explicit

Constructor.

Build a WorldState from SDF data

Parameters
[in]_sdfSDF data to load a world state from.

◆ ~WorldState()

virtual ~WorldState ( )
virtual

Destructor.

Member Function Documentation

◆ Deletions()

const std::vector<std::string>& Deletions ( ) const

Get the vector of SDF deletions.

Returns
A vector containing the names of entities deleted in the current state.

◆ FillSDF()

void FillSDF ( sdf::ElementPtr  _sdf)

Populate a state SDF element with data from the object.

Parameters
[out]_sdfSDF element to populate.

◆ GetIterations()

uint64_t GetIterations ( ) const
inherited

Get the iterations when this state was generated.

Returns
Iterations when the data was recorded

◆ GetLightState()

LightState GetLightState ( const std::string &  _lightName) const

Get a light state by light name.

Parameters
[in]_lightNameName of the light state to get.
Returns
The light state.
Exceptions
common::ExceptionWhen the _lightName doesn't exist.

◆ GetModelState()

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

Get a model state by model name.

Parameters
[in]_modelNameName of the model state to get.
Returns
The model state.
Exceptions
common::ExceptionWhen the _modelName doesn't exist.

◆ GetModelStateCount()

unsigned int GetModelStateCount ( ) const

Get the number of model states.

Returns the number of models in this instance.

Returns
Number of models.

◆ GetModelStates() [1/2]

ModelState_M GetModelStates ( const boost::regex &  _regex) const

Get model states based on a regular expression.

Parameters
[in]_regexThe regular expression.
Returns
List of model states whose names match the regular expression.

◆ GetModelStates() [2/2]

const ModelState_M& GetModelStates ( ) const

Get the model states.

Returns
A vector of model 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.

◆ HasLightState()

bool HasLightState ( const std::string &  _lightName) const

Return true if WorldState has a LightState with the given name.

Parameters
[in]_lightNameName of the light to search for.
Returns
True if the LightState exists.

◆ HasModelState()

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

Return true if WorldState has a ModelState with the given name.

Parameters
[in]_modelNameName of the model to search for.
Returns
True if the ModelState exists.

◆ Insertions()

const std::vector<std::string>& Insertions ( ) const

Get the vector of SDF insertions.

Returns
A vector of SDF blocks. Each block contains the SDF of the model to be spawned in the simulation, without the <sdf> tag wrapping it.

◆ IsZero()

bool IsZero ( ) const

Return true if the values in the state are zero.

This will check to see if the all model states are zero.

Returns
True if the values in the state are zero.

◆ LightStateCount()

unsigned int LightStateCount ( ) const

Get the number of light states.

Returns the number of lights in this instance.

Returns
Number of lights.

◆ LightStates()

const LightState_M& LightStates ( ) const

Get the light states.

Returns
A vector of light states.

◆ Load() [1/2]

void Load ( const WorldPtr  _world)

Load from a World pointer.

Generate a WorldState from an instance of a World.

Parameters
[in]_worldPointer to a world

◆ Load() [2/2]

virtual void Load ( const sdf::ElementPtr  _elem)
virtual

Load state from SDF element.

Set a WorldState from an SDF element containing WorldState info.

Parameters
[in]_elemPointer to the WorldState SDF element.

Reimplemented from State.

◆ LoadWithFilter()

void LoadWithFilter ( const WorldPtr  _world,
const std::string &  _filter 
)

Load from a World pointer.

Generate a WorldState from an instance of a World.

Parameters
[in]_worldPointer to a world
[in]_filterString for filtering models states

◆ operator+()

WorldState operator+ ( const WorldState _state) const

Addition operator.

Parameters
[in]_ptA state to add.
Returns
The resulting state.

◆ operator-() [1/2]

State operator- ( const State _state) const
inherited

Subtraction operator.

Parameters
[in]_ptA state to substract.
Returns
The resulting state.

◆ operator-() [2/2]

WorldState operator- ( const WorldState _state) const

Subtraction operator.

Parameters
[in]_ptA state to substract.
Returns
The resulting state.

◆ operator=()

WorldState& operator= ( const WorldState _state)

Assignment operator.

Parameters
[in]_stateState value
Returns
Reference to this

◆ SetDeletions()

void SetDeletions ( const std::vector< std::string > &  _deletions)

Set a new vector of SDF deletions.

Parameters
[in]_deletionsVector containing names of entities removed in the current simulation frame.

◆ SetInsertions()

void SetInsertions ( const std::vector< std::string > &  _insertions)

Set a new vector of SDF insertions.

Parameters
[in]_insertionsVector containing SDF blocks. Each block should contain the SDF of the new model, light or actor spawned in the current simulation frame. The block could either come wrapped in an <sdf> tag or not.

◆ SetIterations()

virtual void SetIterations ( const uint64_t  _iterations)
virtual

Set the simulation interations when this state was generated.

Parameters
[in]_iterationsSimulation 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]_nameName 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]_timeClock 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]_timeSimulation 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]_timeThe absolute clock time when the State data was recorded.

Reimplemented from State.

◆ SetWorld()

void SetWorld ( const WorldPtr  _world)

Set the world.

Parameters
[in]_worldPointer to the world.

Friends And Related Function Documentation

◆ operator<<

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

Stream insertion operator.

Parameters
[in]_outoutput stream
[in]_stateWorld 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: