gazebo::physics::SimbodyLink Class Reference

Simbody Link class. More...

#include <SimbodyLink.hh>

Inheritance diagram for gazebo::physics::SimbodyLink:

Public Member Functions
	SimbodyLink (EntityPtr _parent)
	Constructor. More...
virtual	~SimbodyLink ()
	Destructor. More...
virtual void	AddForce (const math::Vector3 &_force)
	Add a force to the body. More...
virtual void	AddForceAtRelativePosition (const math::Vector3 &_force, const math::Vector3 &_relpos)
	Add a force to the body at position expressed to the body's own frame of reference. More...
virtual void	AddForceAtWorldPosition (const math::Vector3 &_force, const math::Vector3 &_pos)
	Add a force to the body using a global position. More...
virtual void	AddRelativeForce (const math::Vector3 &_force)
	Add a force to the body, components are relative to the body's own frame of reference. More...
virtual void	AddRelativeTorque (const math::Vector3 &_torque)
	Add a torque to the body, components are relative to the body's own frame of reference. More...
virtual void	AddTorque (const math::Vector3 &_torque)
	Add a torque to the body. More...
virtual void	Fini ()
	Finalize the body. More...
SimTK::MassProperties	GetEffectiveMassProps (int _numFragments) const
virtual bool	GetEnabled () const
	Get whether this body is enabled in the physics engine. More...
virtual bool	GetGravityMode () const
	Get the gravity mode. More...
SimTK::MassProperties	GetMassProperties () const
	Convert Gazebo Inertia to Simbody MassProperties Where Simbody MassProperties contains mass, center of mass location, and unit inertia about body origin. More...
virtual math::Vector3	GetWorldAngularVel () const
	Get the angular velocity of the entity in the world frame. More...
virtual math::Vector3	GetWorldCoGLinearVel () const
	Get the linear velocity at the body's center of gravity in the world frame. More...
virtual math::Vector3	GetWorldForce () const
	Get the force applied to the body in the world frame. More...
virtual math::Vector3	GetWorldLinearVel (const math::Vector3 &_vector3) const
	Get the linear velocity of a point on the body in the world frame, using an offset expressed in a body-fixed frame. More...
virtual math::Vector3	GetWorldLinearVel (const math::Vector3 &_offset, const math::Quaternion &_q) const
	Get the linear velocity of a point on the body in the world frame, using an offset expressed in an arbitrary frame. More...
virtual math::Vector3	GetWorldTorque () const
	Get the torque applied to the body in the world frame. More...
virtual void	Init ()
	Initialize the body. More...
virtual void	Load (sdf::ElementPtr _ptr)
	Load the body based on an SDF element. More...
virtual void	OnPoseChange ()
	This function is called when the entity's (or one of its parents) pose of the parent has changed. More...
virtual void	RestoreSimbodyState (SimTK::State &_state)
virtual void	SaveSimbodyState (const SimTK::State &_state)
virtual void	SetAngularDamping (double _damping)
	Set the angular damping factor. More...
virtual void	SetAngularVel (const math::Vector3 &_vel)
	Set the angular velocity of the body. More...
virtual void	SetAutoDisable (bool _disable)
	Allow the link to auto disable. More...
void	SetDirtyPose (const math::Pose &_pose)
virtual void	SetEnabled (bool enable) const
	Set whether this body is enabled. More...
virtual void	SetForce (const math::Vector3 &_force)
	Set the force applied to the body. More...
virtual void	SetGravityMode (bool _mode)
	Set whether gravity affects this body. More...
virtual void	SetLinearDamping (double _damping)
	Set the linear damping factor. More...
virtual void	SetLinearVel (const math::Vector3 &_vel)
	Set the linear velocity of the body. More...
virtual void	SetLinkStatic (bool _static)
	If the inboard body of this link is ground, simply lock the inboard joint to freeze it to ground. More...
virtual void	SetSelfCollide (bool _collide)
	Set whether this body will collide with others in the model. More...
virtual void	SetTorque (const math::Vector3 &_force)
	Set the torque applied to the body. More...
Public Member Functions inherited from gazebo::physics::Link
	Link (EntityPtr _parent)
	Constructor. More...
virtual	~Link ()
	Destructor. More...
void	AddChildJoint (JointPtr _joint)
	Joints that have this Link as a parent Link. More...
void	AddParentJoint (JointPtr _joint)
	Joints that have this Link as a child Link. More...
void	AttachStaticModel (ModelPtr &_model, const math::Pose &_offset)
	Attach a static model to this link. More...
template<typename T >
event::ConnectionPtr	ConnectEnabled (T _subscriber)
	Connect to the add entity signal. More...
void	DetachAllStaticModels ()
	Detach all static models from this link. More...
void	DetachStaticModel (const std::string &_modelName)
	Detach a static model from this link. More...
void	DisconnectEnabled (event::ConnectionPtr &_conn)
	Disconnect to the add entity signal. More...
void	FillMsg (msgs::Link &_msg)
	Fill a link message. More...
double	GetAngularDamping () const
	Get the angular damping factor. More...
virtual math::Box	GetBoundingBox () const
	Get the bounding box for the link and all the child elements. More...
Joint_V	GetChildJoints () const
	Get the child joints. More...
Link_V	GetChildJointsLinks () const
	Returns a vector of children Links connected by joints. More...
CollisionPtr	GetCollision (const std::string &_name)
	Get a child collision by name. More...
CollisionPtr	GetCollision (unsigned int _index) const
	Get a child collision by index. More...
Collision_V	GetCollisions () const
	Get all the child collisions. More...
InertialPtr	GetInertial () const
	Get the inertia of the link. More...
virtual bool	GetKinematic () const
	Implement this function. More...
double	GetLinearDamping () const
	Get the linear damping factor. More...
ModelPtr	GetModel () const
	Get the model that this body belongs to. More...
Joint_V	GetParentJoints () const
	Get the parent joints. More...
Link_V	GetParentJointsLinks () const
	Returns a vector of parent Links connected by joints. More...
math::Vector3	GetRelativeAngularAccel () const
	Get the angular acceleration of the body. More...
math::Vector3	GetRelativeAngularVel () const
	Get the angular velocity of the body. More...
math::Vector3	GetRelativeForce () const
	Get the force applied to the body. More...
math::Vector3	GetRelativeLinearAccel () const
	Get the linear acceleration of the body. More...
math::Vector3	GetRelativeLinearVel () const
	Get the linear velocity of the body. More...
math::Vector3	GetRelativeTorque () const
	Get the torque applied to the body. More...
bool	GetSelfCollide () const
	Get Self-Collision Flag, if this is true, this body will collide with other bodies even if they share the same parent. More...
unsigned int	GetSensorCount () const
	Get sensor count. More...
std::string	GetSensorName (unsigned int _index) const
	Get sensor name. More...
math::Vector3	GetWorldAngularAccel () const
	Get the angular acceleration of the body in the world frame. More...
math::Pose	GetWorldCoGPose () const
	Get the pose of the body's center of gravity in the world coordinate frame. More...
math::Vector3	GetWorldLinearAccel () const
	Get the linear acceleration of the body in the world frame. More...
void	ProcessMsg (const msgs::Link &_msg)
	Update parameters from a message. More...
virtual void	RemoveChild (EntityPtr _child)
void	RemoveChildJoint (const std::string &_jointName)
	Remove Joints that have this Link as a parent Link. More...
void	RemoveCollision (const std::string &_name)
	Remove a collision from the link. More...
void	RemoveParentJoint (const std::string &_jointName)
	Remove Joints that have this Link as a child Link. More...
void	Reset ()
	Reset the link. More...
void	ResetPhysicsStates ()
	Reset the link. More...
void	SetAngularAccel (const math::Vector3 &_accel)
	Set the angular acceleration of the body. More...
void	SetCollideMode (const std::string &_mode)
	Set the collide mode of the body. More...
void	SetInertial (const InertialPtr &_inertial)
	Set the mass of the link. More...
virtual void	SetKinematic (const bool &_kinematic)
	Implement this function. More...
void	SetLaserRetro (float _retro)
	Set the laser retro reflectiveness. More...
void	SetLinearAccel (const math::Vector3 &_accel)
	Set the linear acceleration of the body. More...
void	SetPublishData (bool _enable)
	Enable/Disable link data publishing. More...
void	SetScale (const math::Vector3 &_scale)
	Set the scale of the link. More...
virtual bool	SetSelected (bool _set)
	Set whether this entity has been selected by the user through the gui. More...
void	SetState (const LinkState &_state)
	Set the current link state. More...
void	Update (const common::UpdateInfo &_info)
	Update the collision. More...
virtual void	UpdateMass ()
	Update the mass matrix. More...
virtual void	UpdateParameters (sdf::ElementPtr _sdf)
	Update the parameters using new sdf values. More...
virtual void	UpdateSurface ()
	Update surface parameters. More...
Public Member Functions inherited from gazebo::physics::Entity
	Entity (BasePtr _parent)
	Constructor. More...
virtual	~Entity ()
	Destructor. More...
CollisionPtr	GetChildCollision (const std::string &_name)
	Get a child collision entity, if one exists. More...
LinkPtr	GetChildLink (const std::string &_name)
	Get a child linke entity, if one exists. More...
math::Box	GetCollisionBoundingBox () const
	Returns collision bounding box. More...
const math::Pose &	GetDirtyPose () const
	Returns Entity::dirtyPose. More...
math::Pose	GetInitialRelativePose () const
	Get the initial relative pose. More...
void	GetNearestEntityBelow (double &_distBelow, std::string &_entityName)
	Get the distance to the nearest entity below (along the Z-axis) this entity. More...
ModelPtr	GetParentModel ()
	Get the parent model, if one exists. More...
math::Pose	GetRelativePose () const
	Get the pose of the entity relative to its parent. More...
virtual math::Vector3	GetWorldLinearVel () const
	Get the linear velocity of the entity in the world frame. More...
const math::Pose &	GetWorldPose () const
	Get the absolute pose of the entity. More...
bool	IsCanonicalLink () const
	A helper function that checks if this is a canonical body. More...
bool	IsStatic () const
	Return whether this entity is static. More...
void	PlaceOnEntity (const std::string &_entityName)
	Move this entity to be ontop of another entity by name. More...
void	PlaceOnNearestEntityBelow ()
	Move this entity to be ontop of the nearest entity below. More...
void	SetAnimation (const common::PoseAnimationPtr &_anim, boost::function< void()> _onComplete)
	Set an animation for this entity. More...
void	SetAnimation (common::PoseAnimationPtr _anim)
	Set an animation for this entity. More...
void	SetCanonicalLink (bool _value)
	Set to true if this entity is a canonical link for a model. More...
void	SetInitialRelativePose (const math::Pose &_pose)
	Set the initial pose. More...
virtual void	SetName (const std::string &_name)
	Set the name of the entity. More...
void	SetRelativePose (const math::Pose &_pose, bool _notify=true, bool _publish=true)
	Set the pose of the entity relative to its parent. More...
void	SetStatic (const bool &_static)
	Set whether this entity is static: immovable. More...
void	SetWorldPose (const math::Pose &_pose, bool _notify=true, bool _publish=true)
	Set the world pose of the entity. More...
void	SetWorldTwist (const math::Vector3 &_linear, const math::Vector3 &_angular, bool _updateChildren=true)
	Set angular and linear rates of an physics::Entity. More...
virtual void	StopAnimation ()
	Stop the current animation, if any. 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...
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...
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 (Base::EntityType _resetType)
	Calls recursive Reset on one of the Base::EntityType's. 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...
void	SetWorld (const WorldPtr &_newWorld)
	Set the world this object belongs to. More...
virtual void	Update ()
	Update the object. More...

Public Attributes
SimTK::MobilizedBody	masterMobod
bool	mustBeBaseLink
	: Force this link to be a base body, where its inboard body is the world with 6DOF. More...
bool	physicsInitialized
std::vector< SimTK::MobilizedBody >	slaveMobods
std::vector < SimTK::Constraint::Weld >	slaveWelds

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 Types inherited from gazebo::physics::Link
typedef std::map< uint32_t, msgs::Visual >	Visuals_M
Protected Member Functions inherited from gazebo::physics::Base
void	ComputeScopedName ()
	Compute the scoped name of this object based on its parents. More...
Protected Attributes inherited from gazebo::physics::Link
math::Vector3	angularAccel
	Angular acceleration. More...
std::vector< math::Pose >	attachedModelsOffset
	Offsets for the attached models. More...
std::vector< std::string >	cgVisuals
	Center of gravity visual elements. More...
InertialPtr	inertial
	Inertial properties. More...
math::Vector3	linearAccel
	Linear acceleration. More...
Visuals_M	visuals
	Link visual elements. More...

Detailed Description

Simbody Link class.

Constructor & Destructor Documentation

gazebo::physics::SimbodyLink::SimbodyLink

(

EntityPtr

_parent

)

Constructor.

virtual gazebo::physics::SimbodyLink::~SimbodyLink ( )

virtual

Destructor.

Member Function Documentation

virtual void gazebo::physics::SimbodyLink::AddForce ( const math::Vector3 &  _force )

virtual

Add a force to the body.

Parameters

[in]

_force

Force to add.

Implements gazebo::physics::Link.

virtual void gazebo::physics::SimbodyLink::AddForceAtRelativePosition ( const math::Vector3 &  _force, const math::Vector3 &  _relPos  )

virtual

Add a force to the body at position expressed to the body's own frame of reference.

Parameters

[in]	_force	Force to add.
[in]	_relPos	Position on the link to add the force.

Implements gazebo::physics::Link.

virtual void gazebo::physics::SimbodyLink::AddForceAtWorldPosition ( const math::Vector3 &  _force, const math::Vector3 &  _pos  )

virtual

Add a force to the body using a global position.

Parameters

[in]	_force	Force to add.
[in]	_pos	Position in global coord frame to add the force.

Implements gazebo::physics::Link.

virtual void gazebo::physics::SimbodyLink::AddRelativeForce ( const math::Vector3 &  _force )

virtual

Add a force to the body, components are relative to the body's own frame of reference.

Parameters

[in]

_force

Force to add.

Implements gazebo::physics::Link.

virtual void gazebo::physics::SimbodyLink::AddRelativeTorque ( const math::Vector3 &  _torque )

virtual

Add a torque to the body, components are relative to the body's own frame of reference.

Parameters

[in]

_torque

Torque value to add.

Implements gazebo::physics::Link.

virtual void gazebo::physics::SimbodyLink::AddTorque ( const math::Vector3 &  _torque )

virtual

Add a torque to the body.

Parameters

[in]

_torque

Torque value to add to the link.

Implements gazebo::physics::Link.

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

virtual

Finalize the body.

Reimplemented from gazebo::physics::Link.

SimTK::MassProperties gazebo::physics::SimbodyLink::GetEffectiveMassProps

(

int

_numFragments

)

const

virtual bool gazebo::physics::SimbodyLink::GetEnabled ( ) const

virtual

Get whether this body is enabled in the physics engine.

Returns

True if the link is enabled.

Implements gazebo::physics::Link.

virtual bool gazebo::physics::SimbodyLink::GetGravityMode ( ) const

virtual

Get the gravity mode.

Returns

True if gravity is enabled.

Implements gazebo::physics::Link.

SimTK::MassProperties gazebo::physics::SimbodyLink::GetMassProperties

(

)

const

Convert Gazebo Inertia to Simbody MassProperties Where Simbody MassProperties contains mass, center of mass location, and unit inertia about body origin.

virtual math::Vector3 gazebo::physics::SimbodyLink::GetWorldAngularVel ( ) const

virtual

Get the angular velocity of the entity in the world frame.

Returns

A math::Vector3 for the velocity.

Reimplemented from gazebo::physics::Entity.

virtual math::Vector3 gazebo::physics::SimbodyLink::GetWorldCoGLinearVel ( ) const

virtual

Get the linear velocity at the body's center of gravity in the world frame.

Returns

Linear velocity at the body's center of gravity in the world frame.

Implements gazebo::physics::Link.

virtual math::Vector3 gazebo::physics::SimbodyLink::GetWorldForce ( ) const

virtual

Get the force applied to the body in the world frame.

Returns

Force applied to the body in the world frame.

Implements gazebo::physics::Link.

virtual math::Vector3 gazebo::physics::SimbodyLink::GetWorldLinearVel ( const math::Vector3 &  _offset ) const

virtual

Get the linear velocity of a point on the body in the world frame, using an offset expressed in a body-fixed frame.

If no offset is given, the velocity at the origin of the Link frame will be returned.

Parameters

[in]

_offset

Offset of the point from the origin of the Link frame, expressed in the body-fixed frame.

Returns

Linear velocity of the point on the body

Implements gazebo::physics::Link.

virtual math::Vector3 gazebo::physics::SimbodyLink::GetWorldLinearVel ( const math::Vector3 &  _offset, const math::Quaternion &  _q  ) const

virtual

Get the linear velocity of a point on the body in the world frame, using an offset expressed in an arbitrary frame.

Parameters

[in]	_offset	Offset from the origin of the link frame expressed in a frame defined by _q.
[in]	_q	Describes the rotation of a reference frame relative to the world reference frame.

Returns

Linear velocity of the point on the body in the world frame.

Implements gazebo::physics::Link.

virtual math::Vector3 gazebo::physics::SimbodyLink::GetWorldTorque ( ) const

virtual

Get the torque applied to the body in the world frame.

Returns

Torque applied to the body in the world frame.

Implements gazebo::physics::Link.

virtual void gazebo::physics::SimbodyLink::Init ( )

virtual

Initialize the body.

Reimplemented from gazebo::physics::Link.

virtual void gazebo::physics::SimbodyLink::Load ( sdf::ElementPtr  _sdf )

virtual

Load the body based on an SDF element.

Parameters

[in]

_sdf

SDF parameters.

Reimplemented from gazebo::physics::Link.

virtual void gazebo::physics::SimbodyLink::OnPoseChange ( )

virtual

This function is called when the entity's (or one of its parents) pose of the parent has changed.

Reimplemented from gazebo::physics::Link.

virtual void gazebo::physics::SimbodyLink::RestoreSimbodyState ( SimTK::State &  _state )

virtual

virtual void gazebo::physics::SimbodyLink::SaveSimbodyState ( const SimTK::State &  _state )

virtual

virtual void gazebo::physics::SimbodyLink::SetAngularDamping ( double  _damping )

virtual

Set the angular damping factor.

Parameters

[in]

_damping

Angular damping factor.

Implements gazebo::physics::Link.

virtual void gazebo::physics::SimbodyLink::SetAngularVel ( const math::Vector3 &  _vel )

virtual

Set the angular velocity of the body.

Parameters

[in]

_vel

Angular velocity.

Implements gazebo::physics::Link.

virtual void gazebo::physics::SimbodyLink::SetAutoDisable ( bool  _disable )

virtual

Allow the link to auto disable.

Parameters

[in]

_disable

If true, the link is allowed to auto disable.

Implements gazebo::physics::Link.

void gazebo::physics::SimbodyLink::SetDirtyPose

(

const math::Pose &

_pose

)

virtual void gazebo::physics::SimbodyLink::SetEnabled ( bool  _enable ) const

virtual

Set whether this body is enabled.

Parameters

[in]

_enable

True to enable the link in the physics engine.

Implements gazebo::physics::Link.

virtual void gazebo::physics::SimbodyLink::SetForce ( const math::Vector3 &  _force )

virtual

Set the force applied to the body.

Parameters

[in]

_force

Force value.

Implements gazebo::physics::Link.

virtual void gazebo::physics::SimbodyLink::SetGravityMode ( bool  _mode )

virtual

Set whether gravity affects this body.

Parameters

[in]

_mode

True to enable gravity.

Implements gazebo::physics::Link.

virtual void gazebo::physics::SimbodyLink::SetLinearDamping ( double  _damping )

virtual

Set the linear damping factor.

Parameters

[in]

_damping

Linear damping factor.

Implements gazebo::physics::Link.

virtual void gazebo::physics::SimbodyLink::SetLinearVel ( const math::Vector3 &  _vel )

virtual

Set the linear velocity of the body.

Parameters

[in]

_vel

Linear velocity.

Implements gazebo::physics::Link.

virtual void gazebo::physics::SimbodyLink::SetLinkStatic ( bool  _static )

virtual

If the inboard body of this link is ground, simply lock the inboard joint to freeze it to ground.

Otherwise, add a weld constraint to simulate freeze to ground effect.

Parameters

[in]

_static

if true, freeze link to ground. Otherwise unfreeze link.

Implements gazebo::physics::Link.

virtual void gazebo::physics::SimbodyLink::SetSelfCollide ( bool  _collide )

virtual

Set whether this body will collide with others in the model.

Parameters

[in]

_collid

True to enable collisions.

Implements gazebo::physics::Link.

virtual void gazebo::physics::SimbodyLink::SetTorque ( const math::Vector3 &  _torque )

virtual

Set the torque applied to the body.

Parameters

[in]

_torque

Torque value.

Implements gazebo::physics::Link.

Member Data Documentation

SimTK::MobilizedBody gazebo::physics::SimbodyLink::masterMobod

bool gazebo::physics::SimbodyLink::mustBeBaseLink

: Force this link to be a base body, where its inboard body is the world with 6DOF.

bool gazebo::physics::SimbodyLink::physicsInitialized

std::vector<SimTK::MobilizedBody> gazebo::physics::SimbodyLink::slaveMobods

std::vector<SimTK::Constraint::Weld> gazebo::physics::SimbodyLink::slaveWelds

---

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

• SimbodyLink.hh