Physics and dynamics functionality. More...

Modules
	Bullet Physics
	Bullet physics engine wrapper.

	Dart Physics
	dart physics engine wrapper

	ODE Physics
	Open Dynamics Engine physics wrapper.

	Simbody Physics
	simbody physics engine wrapper

Files
file	BulletTypes.hh
	Bullet wrapper forward declarations and typedefs.

file	DARTTypes.hh
	DART wrapper forward declarations and typedefs.

file	PhysicsTypes.hh
	default namespace for gazebo

file	SimbodyTypes.hh
	Simbody wrapper forward declarations and typedefs.

Namespaces
	gazebo::physics
	namespace for physics

Classes
class	Actor
	Actor class enables GPU based mesh model / skeleton scriptable animation. More...

class	AdiabaticAtmosphere
	Adiabatic atmosphere model based on the troposphere model in the Manual of the ICAO Standard Atmosphere. More...

class	Atmosphere
	This models a base atmosphere class to serve as a common interface to any derived atmosphere models. More...

class	AtmosphereFactory
	The atmosphere factory instantiates different atmosphere models. More...

class	BallJoint< T >
	Base class for a ball joint. More...

class	Base
	Base class for most physics classes. More...

class	BoxShape
	Box geometry primitive. More...

class	Collision
	Base class for all collision entities. More...

class	CollisionState
	Store state information of a physics::Collision object. More...

class	Contact
	A contact between two collisions. More...

class	ContactManager
	Aggregates all the contact information generated by the collision detection engine. More...

class	CylinderShape
	Cylinder collision. More...

class	Entity
	Base class for all physics objects in Gazebo. More...

class	FixedJoint< T >
	A fixed joint rigidly connecting two bodies. More...

class	FrictionPyramid
	Parameters used for friction pyramid model. More...

class	GearboxJoint< T >
	A double axis gearbox joint. More...

class	Gripper
	A gripper abstraction. More...

class	HeightmapShape
	HeightmapShape collision shape builds a heightmap from an image. More...

class	Hinge2Joint< T >
	A two axis hinge joint. More...

class	HingeJoint< T >
	A single axis hinge joint. More...

class	Inertial
	A class for inertial information about a link. More...

class	Joint
	Base class for all joints. More...

class	JointController
	A class for manipulating physics::Joint. More...

class	JointState
	keeps track of state of a physics::Joint More...

class	JointWrench
	Wrench information from a joint. More...

class	Light
	A light entity. More...

class	LightState
	Store state information of a Light object. More...

class	Link
	Link class defines a rigid body entity, containing information on inertia, visual and collision properties of a rigid body. More...

class	LinkState
	Store state information of a physics::Link object. More...

class	Logplay
	Open and playback log files that were recorded using LogRecord. More...

class	LogPlay

class	MapShape
	Creates box extrusions based on an image. More...

class	MeshShape
	Triangle mesh collision shape. More...

class	Model
	A model is a collection of links, joints, and plugins. More...

class	ModelState
	Store state information of a physics::Model object. More...

class	MultiRayShape
	Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner. More...

class	PhysicsEngine
	Base class for a physics engine. More...

class	PhysicsFactory
	The physics factory instantiates different physics engines. More...

class	PlaneShape
	Collision for an infinite plane. More...

class	PolylineShape
	Polyline geometry primitive. More...

class	Population
	Class that automatically populates an environment with multiple objects based on several parameters to define the number of objects, shape of the object distribution or type of distribution. More...

class	PopulationParams
	Stores all the posible parameters that define a population. More...

class	QuadNode

class	RayShape
	Base class for Ray collision geometry. More...

class	Road
	for building a Road from SDF More...

class	ScrewJoint< T >
	A screw joint, which has both prismatic and rotational DOFs. More...

class	Shape
	Base class for all shapes. More...

class	SliderJoint< T >
	A slider joint. More...

class	SphereShape
	Sphere collision shape. More...

class	State
	State of an entity. More...

class	SurfaceParams
	SurfaceParams defines various Surface contact parameters. More...

class	UniversalJoint< T >
	A universal joint. More...

class	Wind
	Base class for wind. More...

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

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

Macros
#define	GZ_REGISTER_ATMOSPHERE_MODEL(_name, _classname)
	Static atmosphere registration macro. More...

#define	GZ_REGISTER_PHYSICS_ENGINE(name, classname)
	Static physics registration macro. More...

Typedefs
typedef std::unique_ptr< Atmosphere >(*	AtmosphereFactoryFn) (World &world)

typedef PhysicsEnginePtr(*	PhysicsFactoryFn) (WorldPtr world)

Functions
WorldPtr	create_world (const std::string &_name="")
	Create a world given a name. More...

bool	fini ()
	Finalize transport by calling gazebo::transport::fini. More...

WorldPtr	get_world (const std::string &_name="")
	Returns a pointer to a world by name. More...

uint32_t	getUniqueId ()
	Get a unique ID. More...

bool	has_world (const std::string &_name="")
	checks if the world with this name exists. More...

void	init_world (WorldPtr _world) GAZEBO_DEPRECATED(11.0)
	Init world given a pointer to it. More...

void	init_world (WorldPtr _world, UpdateScenePosesFunc _func)
	Init world given a pointer to it. More...

void	init_worlds () GAZEBO_DEPRECATED(11.0)
	initialize multiple worlds stored in static variable gazebo::g_worlds More...

void	init_worlds (UpdateScenePosesFunc _func)
	initialize multiple worlds stored in static variable gazebo::g_worlds More...

bool	load ()
	Setup gazebo::SystemPlugin's and call gazebo::transport::init. More...

void	load_world (WorldPtr _world, sdf::ElementPtr _sdf)
	Load world from sdf::Element pointer. More...

void	load_worlds (sdf::ElementPtr _sdf)
	load multiple worlds from single sdf::Element pointer More...

void	pause_world (WorldPtr _world, bool _pause)
	Pause world by calling World::SetPaused. More...

void	pause_worlds (bool pause)
	pause multiple worlds stored in static variable gazebo::g_worlds More...

void	remove_worlds ()
	remove multiple worlds stored in static variable gazebo::g_worlds More...

void	run_world (WorldPtr _world, unsigned int _iterations=0)
	Run world by calling World::Run() given a pointer to it. More...

void	run_worlds (unsigned int _iterations=0)
	Run multiple worlds stored in static variable gazebo::g_worlds. More...

void	stop_world (WorldPtr _world)
	Stop world by calling World::Stop() given a pointer to it. More...

void	stop_worlds ()
	stop multiple worlds stored in static variable gazebo::g_worlds More...

bool	worlds_running ()
	Return true if any world is running. More...

Variables
static std::string	EntityTypename []
	String names for the different entity types. More...

Detailed Description

Physics and dynamics functionality.

Macro Definition Documentation

◆ GZ_REGISTER_ATMOSPHERE_MODEL

#define GZ_REGISTER_ATMOSPHERE_MODEL	(	_name,
		_classname
	)

Value:

std::unique_ptr<Atmosphere> \
        New##_classname(World &_world) \
    { \
      return std::unique_ptr<Atmosphere>( \
          new gazebo::physics::_classname(_world)); \
    } \
     \
    void Register##_classname() \
    {\
      AtmosphereFactory::RegisterAtmosphere(_name, New##_classname);\
    }

Static atmosphere registration macro.

Use this macro to register atmosphere model with the server.

Parameters

[in]	_name	Atmosphere type name, as it appears in the world file.
[in]	_classname	C++ class name for the atmosphere model.

◆ GZ_REGISTER_PHYSICS_ENGINE

#define GZ_REGISTER_PHYSICS_ENGINE	(	name,
		classname
	)

Value:

PhysicsEnginePtr New##classname(WorldPtr _world) \
    { \
      return PhysicsEnginePtr(new gazebo::physics::classname(_world)); \
    } \
    void Register##classname() \
    {\
      PhysicsFactory::RegisterPhysicsEngine(name, New##classname);\
    }

Static physics registration macro.

Use this macro to register physics engine with the server.

Parameters

[in]	name	Physics type name, as it appears in the world file.
[in]	classname	C++ class name for the physics engine.

Typedef Documentation

◆ AtmosphereFactoryFn

typedef std::unique_ptr<Atmosphere>(* AtmosphereFactoryFn) (World &world)

◆ PhysicsFactoryFn

typedef PhysicsEnginePtr(* PhysicsFactoryFn) (WorldPtr world)

Function Documentation

◆ create_world()

WorldPtr gazebo::physics::create_world ( const std::string & _name = "" )

Create a world given a name.

Parameters

[in] _name Name of the world to create.

Returns: Pointer to the new world.

◆ fini()

bool gazebo::physics::fini ( )

Finalize transport by calling gazebo::transport::fini.

◆ get_world()

WorldPtr gazebo::physics::get_world ( const std::string & _name = "" )

Returns a pointer to a world by name.

Parameters

[in] _name Name of the world to get.

Returns: Pointer to the world.

◆ getUniqueId()

uint32_t gazebo::physics::getUniqueId ( )

Get a unique ID.

Returns: A unique integer

◆ has_world()

bool gazebo::physics::has_world ( const std::string & _name = "" )

checks if the world with this name exists.

Can be used to check if get_world(const std::string&) will succeed or throw an exception.

Parameters

[in] _name Name of the world to check for, or empty to check if any world has been loaded.

Returns: true if the world exists.

◆ init_world() [1/2]

void gazebo::physics::init_world ( WorldPtr _world )

Init world given a pointer to it.

Parameters

[in] _world World to initialize.

Deprecated:: See init_world(WorldPtr, UpdateScenePosesFunc)

◆ init_world() [2/2]

void gazebo::physics::init_world	(	WorldPtr	_world,
		UpdateScenePosesFunc	_func
	)

Init world given a pointer to it.

Parameters

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

◆ init_worlds() [1/2]

void gazebo::physics::init_worlds ( )

initialize multiple worlds stored in static variable gazebo::g_worlds

Deprecated:: See init_worlds(UpdateScenePosesFunc)

◆ init_worlds() [2/2]

void gazebo::physics::init_worlds ( UpdateScenePosesFunc _func )

initialize multiple worlds stored in static variable gazebo::g_worlds

Parameters

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

◆ load()

bool gazebo::physics::load ( )

Setup gazebo::SystemPlugin's and call gazebo::transport::init.

◆ load_world()

void gazebo::physics::load_world	(	WorldPtr	_world,
		sdf::ElementPtr	_sdf
	)

Load world from sdf::Element pointer.

Parameters

[in]	_world	Pointer to a world.
[in]	_sdf	SDF values to load from.

◆ load_worlds()

void gazebo::physics::load_worlds ( sdf::ElementPtr _sdf )

load multiple worlds from single sdf::Element pointer

Parameters

[in] _sdf SDF values used to create worlds.

◆ pause_world()

void gazebo::physics::pause_world	(	WorldPtr	_world,
		bool	_pause
	)

Pause world by calling World::SetPaused.

Parameters

[in]	_world	World to pause or unpause.
[in]	_pause	True to pause, False to unpause.

◆ pause_worlds()

void gazebo::physics::pause_worlds ( bool pause )

pause multiple worlds stored in static variable gazebo::g_worlds

Parameters

[in] _pause True to pause, False to unpause.

◆ remove_worlds()

void gazebo::physics::remove_worlds ( )

remove multiple worlds stored in static variable gazebo::g_worlds

◆ run_world()

void gazebo::physics::run_world	(	WorldPtr	_world,
		unsigned int	_iterations = `0`
	)

Run world by calling World::Run() given a pointer to it.

Parameters

[in]	_world	World to run.
[in]	_iterations	Number of iterations for each world to take. Zero indicates that each world should continue forever.

◆ run_worlds()

void gazebo::physics::run_worlds ( unsigned int _iterations = 0 )

Run multiple worlds stored in static variable gazebo::g_worlds.

Parameters

[in] _iterations Number of iterations for each world to take. Zero indicates that each world should continue forever.

◆ stop_world()

void gazebo::physics::stop_world ( WorldPtr _world )

Stop world by calling World::Stop() given a pointer to it.

Parameters

[in] _world World to stop.

◆ stop_worlds()

void gazebo::physics::stop_worlds ( )

stop multiple worlds stored in static variable gazebo::g_worlds

◆ worlds_running()

bool gazebo::physics::worlds_running ( )

Return true if any world is running.

Returns: True if any world is running.

Variable Documentation

◆ EntityTypename

std::string EntityTypename[]

static

Initial value:

= {
      "common",
      "entity",
      "model",
      "actor",
      "link",
      "collision",
      "light",
      "visual",
      "joint",
      "ball",
      "hinge2",
      "hinge",
      "slider",
      "universal",
      "shape",
      "box",
      "cylinder",
      "heightmap",
      "map",
      "multiray",
      "ray",
      "plane",
      "sphere",
      "trimesh",
      "polyline"
    }

String names for the different entity types.

Modules

Files

Namespaces

Classes

Macros

Typedefs

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ GZ_REGISTER_ATMOSPHERE_MODEL

◆ GZ_REGISTER_PHYSICS_ENGINE

Typedef Documentation

◆ AtmosphereFactoryFn

◆ PhysicsFactoryFn

Function Documentation

◆ create_world()

◆ fini()

◆ get_world()

◆ getUniqueId()

◆ has_world()

◆ init_world() [1/2]

◆ init_world() [2/2]

◆ init_worlds() [1/2]

◆ init_worlds() [2/2]

◆ load()

◆ load_world()

◆ load_worlds()

◆ pause_world()

◆ pause_worlds()

◆ remove_worlds()

◆ run_world()

◆ run_worlds()

◆ stop_world()

◆ stop_worlds()

◆ worlds_running()

Variable Documentation

◆ EntityTypename