Base class for Ray collision geometry. More...
#include <physics/physics.hh>
Public Member Functions | |
| RayShape (PhysicsEnginePtr _physicsEngine) | |
| Constructor for a global ray. More... | |
| RayShape (CollisionPtr _parent) | |
| Constructor. More... | |
| virtual | ~RayShape () |
| Destructor. More... | |
| void | FillMsg (msgs::Geometry &_msg) |
| Fill a message with data from this object. More... | |
| int | GetFiducial () const |
| Get the fiducial id detected by this ray. More... | |
| virtual void | GetGlobalPoints (math::Vector3 &_posA, math::Vector3 &_posB) |
| Get the global starting and ending points. More... | |
| virtual void | GetIntersection (double &_dist, std::string &_entity)=0 |
| Get the nearest intersection. More... | |
| double | GetLength () const |
| Get the length of the ray. More... | |
| virtual void | GetRelativePoints (math::Vector3 &_posA, math::Vector3 &_posB) |
| Get the relative starting and ending points. More... | |
| float | GetRetro () const |
| Get the retro-reflectivness detected by this ray. More... | |
| virtual void | Init () |
| In the ray. More... | |
| virtual void | ProcessMsg (const msgs::Geometry &_msg) |
| Update this shape from a message. More... | |
| void | SetFiducial (int _fid) |
| Set the fiducial id detected by this ray. More... | |
| virtual void | SetLength (double _len) |
| Set the length of the ray. More... | |
| virtual void | SetPoints (const math::Vector3 &_posStart, const math::Vector3 &_posEnd) |
| Set the ray based on starting and ending points relative to the body. More... | |
| void | SetRetro (float _retro) |
| Set the retro-reflectivness detected by this ray. More... | |
| virtual void | SetScale (const math::Vector3 &_scale) |
| Set the scale of the ray. More... | |
| virtual void | Update ()=0 |
| Update the ray collision. More... | |
 Public Member Functions inherited from gazebo::physics::Shape | |
| Shape (CollisionPtr _parent) | |
| Constructor. More... | |
| virtual | ~Shape () |
| Destructor. More... | |
| virtual math::Vector3 | GetScale () const |
| Get the scale of the shape. More... | |
| Public Member Functions inherited from gazebo::physics::Base | |
| Base (BasePtr _parent) | |
| Constructor. More... | |
| virtual | ~Base () |
| Destructor. More... | |
| void | AddChild (BasePtr _child) |
| Add a child to this entity. More... | |
| void | AddType (EntityType _type) |
| Add a type specifier. More... | |
| virtual void | Fini () |
| Finialize the object. More... | |
| BasePtr | GetByName (const std::string &_name) |
| Get by name. More... | |
| BasePtr | GetChild (unsigned int _i) const |
| Get a child by index. More... | |
| BasePtr | GetChild (const std::string &_name) |
| Get a child by name. More... | |
| unsigned int | GetChildCount () const |
| Get the number of children. More... | |
| uint32_t | GetId () const |
| Return the ID of this entity. More... | |
| std::string | GetName () const |
| Return the name of the entity. More... | |
| BasePtr | GetParent () const |
| Get the parent. More... | |
| int | GetParentId () const |
| Return the ID of the parent. More... | |
| bool | GetSaveable () const |
| Get whether the object should be "saved", when the user selects to save the world to xml. More... | |
| std::string | GetScopedName () const |
| Return the name of this entity with the model scope world::model1::...::modelN::entityName. More... | |
| virtual const sdf::ElementPtr | GetSDF () |
| Get the SDF values for the object. More... | |
| unsigned int | GetType () const |
| Get the full type definition. More... | |
| const WorldPtr & | GetWorld () const |
| Get the World this object is in. More... | |
| bool | HasType (const EntityType &_t) const |
| Returns true if this object's type definition has the given type. More... | |
| bool | IsSelected () const |
| True if the entity is selected by the user. More... | |
| virtual void | Load (sdf::ElementPtr _sdf) |
| Load. More... | |
| bool | operator== (const Base &_ent) const |
| Returns true if the entities are the same. More... | |
| void | Print (const std::string &_prefix) |
| Print this object to screen via gzmsg. More... | |
| virtual void | RemoveChild (unsigned int _id) |
| Remove a child from this entity. More... | |
| void | RemoveChild (const std::string &_name) |
| Remove a child by name. More... | |
| void | RemoveChildren () |
| Remove all children. More... | |
| virtual void | Reset () |
| Reset the object. More... | |
| virtual void | Reset (Base::EntityType _resetType) |
| Calls recursive Reset on one of the Base::EntityType's. More... | |
| virtual void | SetName (const std::string &_name) |
| Set the name of the entity. More... | |
| void | SetParent (BasePtr _parent) |
| Set the parent. More... | |
| void | SetSaveable (bool _v) |
| Set whether the object should be "saved", when the user selects to save the world to xml. More... | |
| virtual bool | SetSelected (bool _show) |
| Set whether this entity has been selected by the user through the gui. More... | |
| void | SetWorld (const WorldPtr &_newWorld) |
| Set the world this object belongs to. More... | |
| virtual void | UpdateParameters (sdf::ElementPtr _sdf) |
| Update the parameters using new sdf values. More... | |
Protected Attributes | |
| int | contactFiducial |
| Fiducial ID value. More... | |
| double | contactLen |
| Length of the ray. More... | |
| double | contactRetro |
| Retro reflectance value. More... | |
| math::Vector3 | globalEndPos |
| End position of the ray in global cs. More... | |
| math::Vector3 | globalStartPos |
| Start position of the ray in global cs. More... | |
| math::Vector3 | relativeEndPos |
| End position of the ray, relative to the body. More... | |
| math::Vector3 | relativeStartPos |
| Start position of the ray, relative to the body. More... | |
| Protected Attributes inherited from gazebo::physics::Shape | |
| CollisionPtr | collisionParent |
| This shape's collision parent. More... | |
| math::Vector3 | scale |
| This shape's scale;. More... | |
| Protected Attributes inherited from gazebo::physics::Base | |
| Base_V | children |
| Children of this entity. More... | |
| Base_V::iterator | childrenEnd |
| End of the children vector. More... | |
| BasePtr | parent |
| Parent of this entity. More... | |
| sdf::ElementPtr | sdf |
| The SDF values for this object. More... | |
| WorldPtr | world |
| Pointer to the world. More... | |
Additional Inherited Members | |
| Public Types inherited from gazebo::physics::Base | |
| enum | EntityType { BASE = 0x00000000, ENTITY = 0x00000001, MODEL = 0x00000002, LINK = 0x00000004, COLLISION = 0x00000008, ACTOR = 0x00000016, LIGHT = 0x00000010, VISUAL = 0x00000020, JOINT = 0x00000040, BALL_JOINT = 0x00000080, HINGE2_JOINT = 0x00000100, HINGE_JOINT = 0x00000200, SLIDER_JOINT = 0x00000400, SCREW_JOINT = 0x00000800, UNIVERSAL_JOINT = 0x00001000, SHAPE = 0x00002000, BOX_SHAPE = 0x00004000, CYLINDER_SHAPE = 0x00008000, HEIGHTMAP_SHAPE = 0x00010000, MAP_SHAPE = 0x00020000, MULTIRAY_SHAPE = 0x00040000, RAY_SHAPE = 0x00080000, PLANE_SHAPE = 0x00100000, SPHERE_SHAPE = 0x00200000, MESH_SHAPE = 0x00400000, SENSOR_COLLISION = 0x00800000 } |
| Unique identifiers for all entity types. More... | |
| Protected Member Functions inherited from gazebo::physics::Base | |
| void | ComputeScopedName () |
| Compute the scoped name of this object based on its parents. More... | |
Base class for Ray collision geometry.
|
explicit |
Constructor for a global ray.
| [in] | _physicsEngine | Pointer to the physics engine. |
|
explicit |
Constructor.
| [in] | _parent | Collision parent of the shape. |
|
virtual |
Destructor.
|
virtual |
Fill a message with data from this object.
| [out] | _msg | Message to fill. Implement this function. |
Implements gazebo::physics::Shape.
| int gazebo::physics::RayShape::GetFiducial | ( | ) | const |
Get the fiducial id detected by this ray.
|
virtual |
Get the global starting and ending points.
| [out] | _posA | Returns the starting point. |
| [out] | _posB | Returns the ending point. |
|
pure virtual |
Get the nearest intersection.
| [out] | _dist | Distance to the intersection. |
| [out] | _entity | Name of the entity the ray intersected with. |
Implemented in gazebo::physics::DARTRayShape, and gazebo::physics::SimbodyRayShape.
| double gazebo::physics::RayShape::GetLength | ( | ) | const |
Get the length of the ray.
|
virtual |
Get the relative starting and ending points.
| [in] | _posA | Returns the starting point. |
| [in] | _posB | Returns the ending point. |
| float gazebo::physics::RayShape::GetRetro | ( | ) | const |
Get the retro-reflectivness detected by this ray.
|
virtual |
In the ray.
Implements gazebo::physics::Shape.
|
virtual |
Update this shape from a message.
| [in] | _msg | Message to update from. Implement this function. |
Implements gazebo::physics::Shape.
| void gazebo::physics::RayShape::SetFiducial | ( | int | _fid | ) |
Set the fiducial id detected by this ray.
| [in] | _fid | Fiducial id detected by this ray. |
|
virtual |
Set the length of the ray.
| [in] | _len | Length of the array. |
|
virtual |
Set the ray based on starting and ending points relative to the body.
| [in] | _posStart | Start position, relative the body. |
| [in] | _posEnd | End position, relative to the body. |
Reimplemented in gazebo::physics::DARTRayShape, and gazebo::physics::SimbodyRayShape.
| void gazebo::physics::RayShape::SetRetro | ( | float | _retro | ) |
Set the retro-reflectivness detected by this ray.
| [in] | _retro | Retro reflectance value. |
|
virtual |
Set the scale of the ray.
Implements gazebo::physics::Shape.
|
pure virtual |
Update the ray collision.
Reimplemented from gazebo::physics::Base.
Implemented in gazebo::physics::DARTRayShape, and gazebo::physics::SimbodyRayShape.
|
protected |
Fiducial ID value.
|
protected |
Length of the ray.
|
protected |
Retro reflectance value.
|
protected |
End position of the ray in global cs.
|
protected |
Start position of the ray in global cs.
|
protected |
End position of the ray, relative to the body.
|
protected |
Start position of the ray, relative to the body.