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_M &	GetModelStates () 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_M &	LightStates () 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...

WorldState &	operator= (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]

WorldState ( )

Default constructor.

◆ WorldState() [2/3]

WorldState ( const WorldPtr _world )

explicit

Constructor.

Generate a WorldState from an instance of a World.

Parameters

[in] _world Pointer to a world

◆ WorldState() [3/3]

WorldState ( const sdf::ElementPtr _sdf )

explicit

Constructor.

Build a WorldState from SDF data

Parameters

[in] _sdf SDF 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] _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

◆ GetLightState()

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

Get a light state by light name.

Parameters

[in] _lightName Name of the light state to get.

Returns: The light state.

Exceptions

common::Exception When the _lightName doesn't exist.

◆ GetModelState()

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

Get a model state by model name.

Parameters

[in] _modelName Name of the model state to get.

Returns: The model state.

Exceptions

common::Exception When 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] _regex The 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] _lightName Name 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] _modelName Name 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] _world Pointer 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] _elem Pointer 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]	_world	Pointer to a world
[in]	_filter	String for filtering models states

◆ operator+()

WorldState operator+ ( const WorldState & _state ) const

Addition operator.

Parameters

[in] _pt A state to add.

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]

WorldState operator- ( const WorldState & _state ) const

Subtraction operator.

Parameters

[in] _pt A state to substract.

Returns: The resulting state.

◆ operator=()

WorldState& operator= ( const WorldState & _state )

Assignment operator.

Parameters

[in] _state State value

Returns: Reference to this

◆ SetDeletions()

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

Set a new vector of SDF deletions.

Parameters

[in] _deletions Vector 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] _insertions Vector 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] _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.

◆ SetWorld()

void SetWorld ( const WorldPtr _world )

Set the world.

Parameters

[in] _world Pointer 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]	_out	output stream
[in]	_state	World 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:

WorldState.hh

Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ WorldState() [1/3]

◆ WorldState() [2/3]

◆ WorldState() [3/3]

◆ ~WorldState()

Member Function Documentation

◆ Deletions()

◆ FillSDF()

◆ GetIterations()

◆ GetLightState()

◆ GetModelState()

◆ GetModelStateCount()

◆ GetModelStates() [1/2]

◆ GetModelStates() [2/2]

◆ GetName()

◆ GetRealTime()

◆ GetSimTime()

◆ GetWallTime()

◆ HasLightState()

◆ HasModelState()

◆ Insertions()

◆ IsZero()

◆ LightStateCount()

◆ LightStates()

◆ Load() [1/2]

◆ Load() [2/2]

◆ LoadWithFilter()

◆ operator+()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator=()

◆ SetDeletions()

◆ SetInsertions()

◆ SetIterations()

◆ SetName()

◆ SetRealTime()

◆ SetSimTime()

◆ SetWallTime()

◆ SetWorld()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ iterations

◆ name

◆ realTime

◆ simTime

◆ wallTime