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gazebo::physics::SimbodyPhysics Class Reference

Simbody physics engine. More...

#include <SimbodyPhysics.hh>

Inheritance diagram for gazebo::physics::SimbodyPhysics:
Inheritance graph
[legend]

Public Member Functions

 SimbodyPhysics (WorldPtr _world)
 Constructor. More...
 
virtual ~SimbodyPhysics ()
 Destructor. More...
 
virtual CollisionPtr CreateCollision (const std::string &_type, LinkPtr _body)
 Create a collision. More...
 
virtual JointPtr CreateJoint (const std::string &_type, ModelPtr _parent)
 Create a new joint. More...
 
virtual LinkPtr CreateLink (ModelPtr _parent)
 Create a new body. More...
 
virtual ModelPtr CreateModel (BasePtr _parent)
 Create a new model. More...
 
virtual ShapePtr CreateShape (const std::string &_shapeType, CollisionPtr _collision)
 Create a physics::Shape object. More...
 
virtual void DebugPrint () const
 Debug print out of the physic engine state. More...
 
virtual void Fini ()
 Finilize the physics engine. More...
 
SimTK::MultibodySystem * GetDynamicsWorld () const
 Register a joint with the dynamics world. More...
 
virtual std::string GetType () const
 Return the type of the physics engine (ode|bullet|simbody). More...
 
virtual void Init ()
 Initialize the physics engine. More...
 
virtual void InitForThread ()
 Init the engine for threads. More...
 
void InitModel (const physics::ModelPtr _model)
 Add a Model to the Simbody system. More...
 
virtual void Load (sdf::ElementPtr _sdf)
 Load the physics engine. More...
 
virtual void Reset ()
 Rest the physics engine. More...
 
virtual void SetGravity (const gazebo::math::Vector3 &_gravity)
 Set the gavity vector. More...
 
virtual void SetSeed (uint32_t _seed)
 Set the random number seed for the physics engine. More...
 
virtual void UpdateCollision ()
 Update the physics engine collision. More...
 
virtual void UpdatePhysics ()
 Update the physics engine. More...
 
- Public Member Functions inherited from gazebo::physics::PhysicsEngine
 PhysicsEngine (WorldPtr _world)
 Default constructor. More...
 
virtual ~PhysicsEngine ()
 Destructor. More...
 
CollisionPtr CreateCollision (const std::string &_shapeType, const std::string &_linkName)
 Create a collision. More...
 
virtual bool GetAutoDisableFlag ()
 : Remove this function, and replace it with a more generic property map More...
 
ContactManagerGetContactManager () const
 Get a pointer to the contact manger. More...
 
virtual double GetContactMaxCorrectingVel ()
 : Remove this function, and replace it with a more generic property map. More...
 
virtual double GetContactSurfaceLayer ()
 : Remove this function, and replace it with a more generic property map. More...
 
virtual math::Vector3 GetGravity () const
 Return the gavity vector. More...
 
virtual int GetMaxContacts ()
 : Remove this function, and replace it with a more generic property map. More...
 
double GetMaxStepSize () const
 Get max step size. More...
 
virtual boost::any GetParam (std::string _key) const
 Get an parameter of the physics engine. More...
 
boost::recursive_mutex * GetPhysicsUpdateMutex () const
 returns a pointer to the PhysicsEngine::physicsUpdateMutex. More...
 
double GetRealTimeUpdateRate () const
 Get real time update rate. More...
 
virtual int GetSORPGSIters ()
 : Remove this function, and replace it with a more generic property map More...
 
virtual int GetSORPGSPreconIters ()
 : Remove this function, and replace it with a more generic property map More...
 
virtual double GetSORPGSW ()
 : Remove this function, and replace it with a more generic property map. More...
 
double GetTargetRealTimeFactor () const
 Get target real time factor. More...
 
double GetUpdatePeriod ()
 Get the simulation update period. More...
 
virtual double GetWorldCFM ()
 : Remove this function, and replace it with a more generic property map More...
 
virtual double GetWorldERP ()
 : Remove this function, and replace it with a more generic property map More...
 
virtual void SetAutoDisableFlag (bool _autoDisable)
 : Remove this function, and replace it with a more generic property map More...
 
virtual void SetContactMaxCorrectingVel (double _vel)
 : Remove this function, and replace it with a more generic property map More...
 
virtual void SetContactSurfaceLayer (double _layerDepth)
 : Remove this function, and replace it with a more generic property map More...
 
virtual void SetMaxContacts (double _maxContacts)
 : Remove this function, and replace it with a more generic property map More...
 
void SetMaxStepSize (double _stepSize)
 Set max step size. More...
 
virtual void SetParam (std::string _key, const boost::any &_value)
 Set a parameter of the physics engine. More...
 
void SetRealTimeUpdateRate (double _rate)
 Set real time update rate. More...
 
virtual void SetSORPGSIters (unsigned int _iters)
 : Remove this function, and replace it with a more generic property map More...
 
virtual void SetSORPGSPreconIters (unsigned int _iters)
 : Remove this function, and replace it with a more generic property map More...
 
virtual void SetSORPGSW (double _w)
 : Remove this function, and replace it with a more generic property map More...
 
void SetTargetRealTimeFactor (double _factor)
 Set target real time factor. More...
 
virtual void SetWorldCFM (double _cfm)
 : Remove this function, and replace it with a more generic property map More...
 
virtual void SetWorldERP (double _erp)
 : Remove this function, and replace it with a more generic property map More...
 

Static Public Member Functions

static SimTK::Transform GetPose (sdf::ElementPtr _element)
 If the given element contains a <pose> element, return it as a Transform. More...
 
static std::string GetTypeString (unsigned int _type)
 Convert Base::GetType() to string, this is needed by the MultibodyGraphMaker. More...
 
static std::string GetTypeString (physics::Base::EntityType _type)
 Convert Base::GetType() to string, this is needed by the MultibodyGraphMaker. More...
 
static SimTK::Transform Pose2Transform (const math::Pose &_pose)
 Convert the given pose in x,y,z,thetax,thetay,thetaz format to a Simbody Transform. More...
 
static SimTK::Quaternion QuadToQuad (const math::Quaternion &_q)
 Convert gazebo::math::Quaternion to SimTK::Quaternion. More...
 
static math::Quaternion QuadToQuad (const SimTK::Quaternion &_q)
 Convert SimTK::Quaternion to gazebo::math::Quaternion. More...
 
static math::Pose Transform2Pose (const SimTK::Transform &_xAB)
 Convert a Simbody transform to a pose in x,y,z, thetax,thetay,thetaz format. More...
 
static math::Vector3 Vec3ToVector3 (const SimTK::Vec3 &_v)
 Convert SimTK::Vec3 to gazebo::math::Vector3. More...
 
static SimTK::Vec3 Vector3ToVec3 (const math::Vector3 &_v)
 Convert gazebo::math::Vector3 to SimTK::Vec3. More...
 

Public Attributes

SimTK::CompliantContactSubsystem contact
 
SimTK::Force::DiscreteForces discreteForces
 
SimTK::GeneralForceSubsystem forces
 
SimTK::Force::Gravity gravity
 
SimTK::Integrator * integ
 
SimTK::SimbodyMatterSubsystem matter
 
bool simbodyPhysicsInitialized
 true if initialized More...
 
bool simbodyPhysicsStepped
 
SimTK::MultibodySystem system
 
SimTK::ContactTrackerSubsystem tracker
 

Protected Member Functions

virtual void OnPhysicsMsg (ConstPhysicsPtr &_msg)
 virtual callback for gztopic "~/physics". More...
 
virtual void OnRequest (ConstRequestPtr &_msg)
 virtual callback for gztopic "~/request". More...
 

Additional Inherited Members

- Protected Attributes inherited from gazebo::physics::PhysicsEngine
ContactManagercontactManager
 Class that handles all contacts generated by the physics engine. More...
 
double maxStepSize
 Real time update rate. More...
 
transport::NodePtr node
 Node for communication. More...
 
transport::SubscriberPtr physicsSub
 Subscribe to the physics topic. More...
 
boost::recursive_mutex * physicsUpdateMutex
 Mutex to protect the update cycle. More...
 
double realTimeUpdateRate
 Real time update rate. More...
 
transport::SubscriberPtr requestSub
 Subscribe to the request topic. More...
 
transport::PublisherPtr responsePub
 Response publisher. More...
 
sdf::ElementPtr sdf
 Our SDF values. More...
 
double targetRealTimeFactor
 Target real time factor. More...
 
WorldPtr world
 Pointer to the world. More...
 

Detailed Description

Simbody physics engine.

Constructor & Destructor Documentation

gazebo::physics::SimbodyPhysics::SimbodyPhysics ( WorldPtr  _world)

Constructor.

virtual gazebo::physics::SimbodyPhysics::~SimbodyPhysics ( )
virtual

Destructor.

Member Function Documentation

virtual CollisionPtr gazebo::physics::SimbodyPhysics::CreateCollision ( const std::string &  _shapeType,
LinkPtr  _link 
)
virtual

Create a collision.

Parameters
[in]_shapeTypeType of collision to create.
[in]_linkParent link.

Implements gazebo::physics::PhysicsEngine.

virtual JointPtr gazebo::physics::SimbodyPhysics::CreateJoint ( const std::string &  _type,
ModelPtr  _parent 
)
virtual

Create a new joint.

Parameters
[in]_typeType of joint to create.
[in]_parentModel parent.

Implements gazebo::physics::PhysicsEngine.

virtual LinkPtr gazebo::physics::SimbodyPhysics::CreateLink ( ModelPtr  _parent)
virtual

Create a new body.

Parameters
[in]_parentParent model for the link.

Implements gazebo::physics::PhysicsEngine.

virtual ModelPtr gazebo::physics::SimbodyPhysics::CreateModel ( BasePtr  _base)
virtual

Create a new model.

Parameters
[in]_baseBoost shared pointer to a new model.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual ShapePtr gazebo::physics::SimbodyPhysics::CreateShape ( const std::string &  _shapeType,
CollisionPtr  _collision 
)
virtual

Create a physics::Shape object.

Parameters
[in]_shapeTypeType of shape to create.
[in]_collisionCollision parent.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::SimbodyPhysics::DebugPrint ( ) const
virtual

Debug print out of the physic engine state.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::SimbodyPhysics::Fini ( )
virtual

Finilize the physics engine.

Reimplemented from gazebo::physics::PhysicsEngine.

SimTK::MultibodySystem* gazebo::physics::SimbodyPhysics::GetDynamicsWorld ( ) const

Register a joint with the dynamics world.

static SimTK::Transform gazebo::physics::SimbodyPhysics::GetPose ( sdf::ElementPtr  _element)
static

If the given element contains a <pose> element, return it as a Transform.

Otherwise return the identity Transform. If there is more than one <pose> element, only the first one is processed.

virtual std::string gazebo::physics::SimbodyPhysics::GetType ( ) const
virtual

Return the type of the physics engine (ode|bullet|simbody).

Returns
Type of the physics engine.

Implements gazebo::physics::PhysicsEngine.

static std::string gazebo::physics::SimbodyPhysics::GetTypeString ( unsigned int  _type)
static

Convert Base::GetType() to string, this is needed by the MultibodyGraphMaker.

Parameters
[in]_typeJoint type returned by Joint::GetType().
Returns
a hard-coded string needed by the MultibodyGraphMaker.
static std::string gazebo::physics::SimbodyPhysics::GetTypeString ( physics::Base::EntityType  _type)
static

Convert Base::GetType() to string, this is needed by the MultibodyGraphMaker.

Parameters
[in]_typeJoint type returned by Joint::GetType().
Returns
a hard-coded string needed by the MultibodyGraphMaker.
virtual void gazebo::physics::SimbodyPhysics::Init ( )
virtual

Initialize the physics engine.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::SimbodyPhysics::InitForThread ( )
virtual

Init the engine for threads.

Implements gazebo::physics::PhysicsEngine.

void gazebo::physics::SimbodyPhysics::InitModel ( const physics::ModelPtr  _model)

Add a Model to the Simbody system.

Parameters
[in]_modelPointer to the model to add into Simbody.
virtual void gazebo::physics::SimbodyPhysics::Load ( sdf::ElementPtr  _sdf)
virtual

Load the physics engine.

Parameters
[in]_sdfPointer to the SDF parameters.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::SimbodyPhysics::OnPhysicsMsg ( ConstPhysicsPtr &  _msg)
protectedvirtual

virtual callback for gztopic "~/physics".

Parameters
[in]_msgPhysics message.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::SimbodyPhysics::OnRequest ( ConstRequestPtr &  _msg)
protectedvirtual

virtual callback for gztopic "~/request".

Parameters
[in]_msgRequest message.

Reimplemented from gazebo::physics::PhysicsEngine.

static SimTK::Transform gazebo::physics::SimbodyPhysics::Pose2Transform ( const math::Pose _pose)
static

Convert the given pose in x,y,z,thetax,thetay,thetaz format to a Simbody Transform.

The rotation angles are interpreted as a body-fixed sequence, meaning we rotation about x, then about the new y, then about the now twice-rotated z.

Parameters
[in]_poseGazeb's math::Pose object
Returns
Simbody's SimTK::Transform object
static SimTK::Quaternion gazebo::physics::SimbodyPhysics::QuadToQuad ( const math::Quaternion _q)
static

Convert gazebo::math::Quaternion to SimTK::Quaternion.

Parameters
[in]_qGazeb's math::Quaternion object
Returns
Simbody's SimTK::Quaternion object
static math::Quaternion gazebo::physics::SimbodyPhysics::QuadToQuad ( const SimTK::Quaternion &  _q)
static

Convert SimTK::Quaternion to gazebo::math::Quaternion.

Parameters
[in]_qSimbody's SimTK::Quaternion object
Returns
Gazeb's math::Quaternion object
virtual void gazebo::physics::SimbodyPhysics::Reset ( )
virtual

Rest the physics engine.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::SimbodyPhysics::SetGravity ( const gazebo::math::Vector3 _gravity)
virtual

Set the gavity vector.

Parameters
[in]_gravityNew gravity vector.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::SimbodyPhysics::SetSeed ( uint32_t  _seed)
virtual

Set the random number seed for the physics engine.

Parameters
[in]_seedThe random number seed.

Implements gazebo::physics::PhysicsEngine.

static math::Pose gazebo::physics::SimbodyPhysics::Transform2Pose ( const SimTK::Transform &  _xAB)
static

Convert a Simbody transform to a pose in x,y,z, thetax,thetay,thetaz format.

Parameters
[in]_xABSimbody's SimTK::Transform object
Returns
Gazeb's math::Pose object
virtual void gazebo::physics::SimbodyPhysics::UpdateCollision ( )
virtual

Update the physics engine collision.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::SimbodyPhysics::UpdatePhysics ( )
virtual

Update the physics engine.

Reimplemented from gazebo::physics::PhysicsEngine.

static math::Vector3 gazebo::physics::SimbodyPhysics::Vec3ToVector3 ( const SimTK::Vec3 &  _v)
static

Convert SimTK::Vec3 to gazebo::math::Vector3.

Parameters
[in]_vSimbody's SimTK::Vec3 object
Returns
Gazeb's math::Vector3 object
static SimTK::Vec3 gazebo::physics::SimbodyPhysics::Vector3ToVec3 ( const math::Vector3 _v)
static

Convert gazebo::math::Vector3 to SimTK::Vec3.

Parameters
[in]_vGazeb's math::Vector3 object
Returns
Simbody's SimTK::Vec3 object

Member Data Documentation

SimTK::CompliantContactSubsystem gazebo::physics::SimbodyPhysics::contact
SimTK::Force::DiscreteForces gazebo::physics::SimbodyPhysics::discreteForces
SimTK::GeneralForceSubsystem gazebo::physics::SimbodyPhysics::forces
SimTK::Force::Gravity gazebo::physics::SimbodyPhysics::gravity
SimTK:: Integrator* gazebo::physics::SimbodyPhysics::integ
SimTK::SimbodyMatterSubsystem gazebo::physics::SimbodyPhysics::matter
bool gazebo::physics::SimbodyPhysics::simbodyPhysicsInitialized

true if initialized

bool gazebo::physics::SimbodyPhysics::simbodyPhysicsStepped
SimTK::MultibodySystem gazebo::physics::SimbodyPhysics::system
SimTK::ContactTrackerSubsystem gazebo::physics::SimbodyPhysics::tracker

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