namespace for physics More...

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
	Base class for a ball joint. More...

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

class	BoxShape
	Box geometry primitive. More...

class	BulletBallJoint
	BulletBallJoint class models a ball joint in Bullet. More...

class	BulletBoxShape
	Bullet box collision. More...

class	BulletCollision
	Bullet collisions. More...

class	BulletCylinderShape
	Cylinder collision. More...

class	BulletFixedJoint
	A fixed joint. More...

class	BulletHeightmapShape
	Height map collision. More...

class	BulletHinge2Joint
	A two axis hinge joint. More...

class	BulletHingeJoint
	A single axis hinge joint. More...

class	BulletJoint
	Base class for all joints. More...

class	BulletLink
	Bullet Link class. More...

class	BulletMesh
	Triangle mesh collision helper class. More...

class	BulletMeshShape
	Triangle mesh collision. More...

class	BulletMotionState
	Bullet btMotionState encapsulation. More...

class	BulletMultiRayShape
	Bullet specific version of MultiRayShape. More...

class	BulletPhysics
	Bullet physics engine. More...

class	BulletPlaneShape
	Bullet collision for an infinite plane. More...

class	BulletPolylineShape
	Bullet polyline shape. More...

class	BulletRayShape
	Ray shape for bullet. More...

class	BulletScrewJoint
	A screw joint. More...

class	BulletSliderJoint
	A slider joint. More...

class	BulletSphereShape
	Bullet sphere collision. More...

class	BulletSurfaceParams
	Bullet surface parameters. More...

class	BulletTypes
	A set of functions for converting between the math types used by gazebo and bullet. More...

class	BulletUniversalJoint
	A bullet universal joint class. 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	ContactPublisher
	A custom contact publisher created for each contact filter in the Contact Manager. More...

class	CylinderShape
	Cylinder collision. More...

class	DARTBallJoint
	An DARTBallJoint. More...

class	DARTBoxShape
	DART Box shape. More...

class	DARTCollision
	Base class for all DART collisions. More...

class	DARTCylinderShape
	DART cylinder shape. More...

class	DARTFixedJoint
	A single axis hinge joint. More...

class	DARTHeightmapShape
	DART Height map collision. More...

class	DARTHeightmapShapePrivate
	Forward declare private data class. More...

class	DARTHinge2Joint
	A two axis hinge joint. More...

class	DARTHingeJoint
	A single axis hinge joint. More...

class	DARTJoint
	DART joint interface. More...

class	DARTLink
	DART Link class. More...

class	DARTMesh
	Triangle mesh collision helper class. More...

class	DARTMeshShape
	Triangle mesh collision. More...

class	DARTModel
	DART model class. More...

class	DARTMultiRayShape
	DART specific version of MultiRayShape. More...

class	DARTPhysics
	DART physics engine. More...

class	DARTPlaneShape
	An DART Plane shape. More...

class	DARTPolylineShape
	DART polyline shape. More...

class	DARTRayShape
	Ray collision. More...

class	DARTScrewJoint
	A screw joint. More...

class	DARTSliderJoint
	A slider joint. More...

class	DARTSphereShape
	A DART sphere shape. More...

class	DARTSurfaceParams
	DART surface parameters. More...

class	DARTTypes
	A set of functions for converting between the math types used by gazebo and dart. More...

class	DARTUniversalJoint
	A universal joint. More...

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

class	FixedJoint
	A fixed joint rigidly connecting two bodies. More...

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

class	GearboxJoint
	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
	A two axis hinge joint. More...

class	HingeJoint
	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	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	ODEBallJoint
	An ODEBallJoint. More...

class	ODEBoxShape
	ODE Box shape. More...

class	ODECollision
	Base class for all ODE collisions. More...

class	ODECylinderShape
	ODE cylinder shape. More...

class	ODEFixedJoint
	A fixed joint. More...

class	ODEGearboxJoint
	A double axis gearbox joint. More...

class	ODEHeightmapShape
	ODE Height map collision. More...

class	ODEHinge2Joint
	A two axis hinge joint. More...

class	ODEHingeJoint
	A single axis hinge joint. More...

class	ODEJoint
	ODE joint interface. More...

class	ODELink
	ODE Link class. More...

class	ODEMesh
	Triangle mesh helper class. More...

class	ODEMeshShape
	Triangle mesh collision. More...

class	ODEMultiRayShape
	ODE specific version of MultiRayShape. More...

class	ODEPhysics
	ODE physics engine. More...

class	ODEPlaneShape
	An ODE Plane shape. More...

class	ODEPolylineShape
	ODE polyline shape. More...

class	ODERayShape
	Ray collision. More...

class	ODEScrewJoint
	A screw joint. More...

class	ODESliderJoint
	A slider joint. More...

class	ODESphereShape
	A ODE sphere shape. More...

class	ODESurfaceParams
	ODE surface parameters. More...

class	ODEUniversalJoint
	A universal joint. 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	Preset
	Representation of a preset physics profile. More...

class	PresetManager
	Class to manage preset physics profiles. More...

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

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

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

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

class	SimbodyBallJoint
	SimbodyBallJoint class models a ball joint in Simbody. More...

class	SimbodyBoxShape
	Simbody box collision. More...

class	SimbodyCollision
	Simbody collisions. More...

class	SimbodyCylinderShape
	Cylinder collision. More...

class	SimbodyFixedJoint
	A fixed joint rigidly connecting two bodies. More...

class	SimbodyHeightmapShape
	Height map collision. More...

class	SimbodyHinge2Joint
	A two axis hinge joint. More...

class	SimbodyHingeJoint
	A single axis hinge joint. More...

class	SimbodyJoint
	Base class for all joints. More...

class	SimbodyLink
	Simbody Link class. More...

class	SimbodyMesh
	Triangle mesh collision helper class. More...

class	SimbodyMeshShape
	Triangle mesh collision. More...

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

class	SimbodyMultiRayShape
	Simbody specific version of MultiRayShape. More...

class	SimbodyPhysics
	Simbody physics engine. More...

class	SimbodyPlaneShape
	Simbody collision for an infinite plane. More...

class	SimbodyPolylineShape
	Simbody polyline shape. More...

class	SimbodyRayShape
	Ray shape for simbody. More...

class	SimbodyScrewJoint
	A screw joint. More...

class	SimbodySliderJoint
	A slider joint. More...

class	SimbodySphereShape
	Simbody sphere collision. More...

class	SimbodyUniversalJoint
	A simbody universal joint class. More...

class	SliderJoint
	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	TrajectoryInfo
	Information about a trajectory for an Actor. More...

class	UniversalJoint
	A universal joint. More...

class	UserCmd
	Class which represents a user command, which can be "undone" and "redone". More...

class	UserCmdManager
	Manages user commands from the server side. 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...

Typedefs
typedef std::vector< ActorPtr >	Actor_V

typedef boost::shared_ptr< Actor >	ActorPtr

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

typedef std::vector< BasePtr >	Base_V

typedef boost::shared_ptr< Base >	BasePtr

typedef boost::shared_ptr< BoxShape >	BoxShapePtr

typedef boost::shared_ptr< BulletCollision >	BulletCollisionPtr

typedef boost::shared_ptr< BulletLink >	BulletLinkPtr

typedef boost::shared_ptr< BulletMotionState >	BulletMotionStatePtr

typedef boost::shared_ptr< BulletPhysics >	BulletPhysicsPtr

typedef boost::shared_ptr< BulletRayShape >	BulletRayShapePtr

typedef boost::shared_ptr< BulletSurfaceParams >	BulletSurfaceParamsPtr

typedef std::vector< CollisionPtr >	Collision_V

typedef boost::shared_ptr< Collision >	CollisionPtr

typedef boost::shared_ptr< Contact >	ContactPtr

typedef boost::shared_ptr< CylinderShape >	CylinderShapePtr

using	DARTBodyNodePropPtr = std::shared_ptr< dart::dynamics::BodyNode::Properties >

typedef boost::shared_ptr< DARTCollision >	DARTCollisionPtr

using	DARTJointPropPtr = std::shared_ptr< dart::dynamics::Joint::Properties >

typedef boost::shared_ptr< DARTJoint >	DARTJointPtr

typedef boost::shared_ptr< DARTLink >	DARTLinkPtr

typedef boost::shared_ptr< DARTModel >	DARTModelPtr

typedef boost::shared_ptr< DARTPhysics >	DARTPhysicsPtr

typedef boost::shared_ptr< DARTRayShape >	DARTRayShapePtr

typedef boost::shared_ptr< DARTSurfaceParams >	DARTSurfaceParamsPtr

typedef boost::shared_ptr< Entity >	EntityPtr

typedef boost::shared_ptr< FrictionPyramid >	FrictionPyramidPtr

typedef boost::shared_ptr< Gripper >	GripperPtr

typedef boost::shared_ptr< HeightmapShape >	HeightmapShapePtr

typedef boost::shared_ptr< Inertial >	InertialPtr

typedef std::vector< JointPtr >	Joint_V

typedef std::vector< JointControllerPtr >	JointController_V

typedef boost::shared_ptr< JointController >	JointControllerPtr

typedef boost::shared_ptr< Joint >	JointPtr

typedef std::map< std::string, JointState >	JointState_M

typedef std::vector< LightPtr >	Light_V

typedef boost::shared_ptr< Light >	LightPtr

typedef std::map< std::string, LightState >	LightState_M

typedef std::vector< LinkPtr >	Link_V

typedef boost::shared_ptr< Link >	LinkPtr

typedef std::map< std::string, LinkState >	LinkState_M

typedef boost::shared_ptr< MeshShape >	MeshShapePtr

typedef std::vector< ModelPtr >	Model_V

typedef boost::shared_ptr< Model >	ModelPtr

typedef std::map< std::string, ModelState >	ModelState_M

typedef boost::shared_ptr< MultiRayShape >	MultiRayShapePtr

typedef boost::shared_ptr< ODECollision >	ODECollisionPtr

typedef boost::shared_ptr< ODEJoint >	ODEJointPtr

typedef boost::shared_ptr< ODELink >	ODELinkPtr

typedef boost::shared_ptr< ODEPhysics >	ODEPhysicsPtr

typedef boost::shared_ptr< ODERayShape >	ODERayShapePtr

typedef boost::shared_ptr< ODESurfaceParams >	ODESurfaceParamsPtr

typedef boost::shared_ptr< PhysicsEngine >	PhysicsEnginePtr

typedef PhysicsEnginePtr(*	PhysicsFactoryFn) (WorldPtr world)

typedef boost::shared_ptr< PlaneShape >	PlaneShapePtr

typedef boost::shared_ptr< PolylineShape >	PolylineShapePtr

typedef boost::shared_ptr< PresetManager >	PresetManagerPtr

typedef boost::shared_ptr< RayShape >	RayShapePtr

typedef boost::shared_ptr< Road >	RoadPtr

typedef boost::shared_ptr< Shape >	ShapePtr

typedef boost::shared_ptr< SimbodyCollision >	SimbodyCollisionPtr

typedef boost::shared_ptr< SimbodyLink >	SimbodyLinkPtr

typedef boost::shared_ptr< SimbodyModel >	SimbodyModelPtr

typedef boost::shared_ptr< SimbodyPhysics >	SimbodyPhysicsPtr

typedef boost::shared_ptr< SimbodyRayShape >	SimbodyRayShapePtr

typedef boost::shared_ptr< SphereShape >	SphereShapePtr

typedef boost::shared_ptr< SurfaceParams >	SurfaceParamsPtr

typedef std::shared_ptr< TrajectoryInfo >	TrajectoryInfoPtr

using	UpdateScenePosesFunc = std::function< void(const std::string &, const msgs::PosesStamped &)>
	Function signature for API that updates scene poses. More...

typedef std::shared_ptr< UserCmdManager >	UserCmdManagerPtr

typedef std::shared_ptr< UserCmd >	UserCmdPtr

typedef boost::shared_ptr< World >	WorldPtr

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

namespace for physics

Physics forward declarations and type defines.

physics namespace

Typedef Documentation

◆ Actor_V

typedef std::vector<ActorPtr> Actor_V

◆ ActorPtr

typedef boost::shared_ptr<Actor> ActorPtr

◆ Base_V

typedef std::vector<BasePtr> Base_V

◆ BasePtr

typedef boost::shared_ptr<Base> BasePtr

◆ BoxShapePtr

typedef boost::shared_ptr<BoxShape> BoxShapePtr

◆ BulletCollisionPtr

typedef boost::shared_ptr<BulletCollision> BulletCollisionPtr

◆ BulletLinkPtr

typedef boost::shared_ptr<BulletLink> BulletLinkPtr

◆ BulletMotionStatePtr

typedef boost::shared_ptr<BulletMotionState> BulletMotionStatePtr

◆ BulletPhysicsPtr

typedef boost::shared_ptr<BulletPhysics> BulletPhysicsPtr

◆ BulletRayShapePtr

typedef boost::shared_ptr<BulletRayShape> BulletRayShapePtr

◆ BulletSurfaceParamsPtr

typedef boost::shared_ptr<BulletSurfaceParams> BulletSurfaceParamsPtr

◆ Collision_V

typedef std::vector<CollisionPtr> Collision_V

◆ CollisionPtr

typedef boost::shared_ptr<Collision> CollisionPtr

◆ ContactPtr

typedef boost::shared_ptr<Contact> ContactPtr

◆ CylinderShapePtr

typedef boost::shared_ptr<CylinderShape> CylinderShapePtr

◆ DARTBodyNodePropPtr

using DARTBodyNodePropPtr = std::shared_ptr<dart::dynamics::BodyNode::Properties>

◆ DARTCollisionPtr

typedef boost::shared_ptr<DARTCollision> DARTCollisionPtr

◆ DARTJointPropPtr

using DARTJointPropPtr = std::shared_ptr<dart::dynamics::Joint::Properties>

◆ DARTJointPtr

typedef boost::shared_ptr<DARTJoint> DARTJointPtr

◆ DARTLinkPtr

typedef boost::shared_ptr<DARTLink> DARTLinkPtr

◆ DARTModelPtr

typedef boost::shared_ptr<DARTModel> DARTModelPtr

◆ DARTPhysicsPtr

typedef boost::shared_ptr<DARTPhysics> DARTPhysicsPtr

◆ DARTRayShapePtr

typedef boost::shared_ptr<DARTRayShape> DARTRayShapePtr

◆ DARTSurfaceParamsPtr

typedef boost::shared_ptr<DARTSurfaceParams> DARTSurfaceParamsPtr

◆ EntityPtr

typedef boost::shared_ptr<Entity> EntityPtr

◆ FrictionPyramidPtr

typedef boost::shared_ptr<FrictionPyramid> FrictionPyramidPtr

◆ GripperPtr

typedef boost::shared_ptr<Gripper> GripperPtr

◆ HeightmapShapePtr

typedef boost::shared_ptr<HeightmapShape> HeightmapShapePtr

◆ InertialPtr

typedef boost::shared_ptr<Inertial> InertialPtr

◆ Joint_V

typedef std::vector<JointPtr> Joint_V

◆ JointController_V

typedef std::vector<JointControllerPtr> JointController_V

◆ JointControllerPtr

typedef boost::shared_ptr<JointController> JointControllerPtr

◆ JointPtr

typedef boost::shared_ptr<Joint> JointPtr

◆ JointState_M

typedef std::map<std::string, JointState> JointState_M

◆ Light_V

typedef std::vector<LightPtr> Light_V

◆ LightPtr

typedef boost::shared_ptr<Light> LightPtr

◆ LightState_M

typedef std::map<std::string, LightState> LightState_M

◆ Link_V

typedef std::vector<LinkPtr> Link_V

◆ LinkPtr

typedef boost::shared_ptr<Link> LinkPtr

◆ LinkState_M

typedef std::map<std::string, LinkState> LinkState_M

◆ MeshShapePtr

typedef boost::shared_ptr<MeshShape> MeshShapePtr

◆ Model_V

typedef std::vector<ModelPtr> Model_V

◆ ModelPtr

typedef boost::shared_ptr<Model> ModelPtr

◆ ModelState_M

typedef std::map<std::string, ModelState> ModelState_M

◆ MultiRayShapePtr

typedef boost::shared_ptr<MultiRayShape> MultiRayShapePtr

◆ PhysicsEnginePtr

typedef boost::shared_ptr<PhysicsEngine> PhysicsEnginePtr

◆ PlaneShapePtr

typedef boost::shared_ptr<PlaneShape> PlaneShapePtr

◆ PolylineShapePtr

typedef boost::shared_ptr<PolylineShape> PolylineShapePtr

◆ PresetManagerPtr

typedef boost::shared_ptr<PresetManager> PresetManagerPtr

◆ RayShapePtr

typedef boost::shared_ptr<RayShape> RayShapePtr

◆ RoadPtr

typedef boost::shared_ptr<Road> RoadPtr

◆ ShapePtr

typedef boost::shared_ptr<Shape> ShapePtr

◆ SphereShapePtr

typedef boost::shared_ptr<SphereShape> SphereShapePtr

◆ SurfaceParamsPtr

typedef boost::shared_ptr<SurfaceParams> SurfaceParamsPtr

◆ TrajectoryInfoPtr

typedef std::shared_ptr<TrajectoryInfo> TrajectoryInfoPtr

◆ UpdateScenePosesFunc

using UpdateScenePosesFunc = std::function<void(const std::string &, const msgs::PosesStamped &)>

Function signature for API that updates scene poses.

Parameters

[in]	String	name of scene update.
[in]	Poses	of objects in scene to update.

◆ UserCmdManagerPtr

typedef std::shared_ptr<UserCmdManager> UserCmdManagerPtr

◆ UserCmdPtr

typedef std::shared_ptr<UserCmd> UserCmdPtr

◆ WorldPtr

typedef boost::shared_ptr<World> WorldPtr

Classes

Typedefs

Functions

Variables