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Model.hh
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1 /*
2  * Copyright (C) 2012-2014 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 /* Desc: Base class for all models
18  * Author: Nathan Koenig and Andrew Howard
19  * Date: 8 May 2003
20  */
21 
22 #ifndef _MODEL_HH_
23 #define _MODEL_HH_
24 
25 #include <string>
26 #include <map>
27 #include <vector>
28 #include <boost/thread/recursive_mutex.hpp>
29 
33 #include "gazebo/physics/Entity.hh"
34 #include "gazebo/util/system.hh"
35 
36 namespace boost
37 {
38  class recursive_mutex;
39 }
40 
41 namespace gazebo
42 {
43  namespace physics
44  {
45  class Gripper;
46 
49 
52  class GAZEBO_VISIBLE Model : public Entity
53  {
56  public: explicit Model(BasePtr _parent);
57 
59  public: virtual ~Model();
60 
63  public: void Load(sdf::ElementPtr _sdf);
64 
66  public: void LoadJoints();
67 
69  public: virtual void Init();
70 
72  public: void Update();
73 
75  public: virtual void Fini();
76 
79  public: virtual void UpdateParameters(sdf::ElementPtr _sdf);
80 
83  public: virtual const sdf::ElementPtr GetSDF();
84 
87  public: virtual void RemoveChild(EntityPtr _child);
88  using Base::RemoveChild;
89 
91  public: void Reset();
92 
95  public: void SetLinearVel(const math::Vector3 &_vel);
96 
99  public: void SetAngularVel(const math::Vector3 &_vel);
100 
104  public: void SetLinearAccel(const math::Vector3 &_vel);
105 
109  public: void SetAngularAccel(const math::Vector3 &_vel);
110 
113  public: virtual math::Vector3 GetRelativeLinearVel() const;
114 
117  public: virtual math::Vector3 GetWorldLinearVel() const;
118 
121  public: virtual math::Vector3 GetRelativeAngularVel() const;
122 
125  public: virtual math::Vector3 GetWorldAngularVel() const;
126 
129  public: virtual math::Vector3 GetRelativeLinearAccel() const;
130 
133  public: virtual math::Vector3 GetWorldLinearAccel() const;
134 
137  public: virtual math::Vector3 GetRelativeAngularAccel() const;
138 
141  public: virtual math::Vector3 GetWorldAngularAccel() const;
142 
145  public: virtual math::Box GetBoundingBox() const;
146 
149  public: unsigned int GetJointCount() const;
150 
154  public: Link_V GetLinks() const;
155 
158  public: const Joint_V &GetJoints() const;
159 
163  public: JointPtr GetJoint(const std::string &name);
164 
169  public: LinkPtr GetLinkById(unsigned int _id) const;
171 
175  public: LinkPtr GetLink(const std::string &_name ="canonical") const;
176 
179  public: void SetGravityMode(const bool &_value);
180 
185  public: void SetCollideMode(const std::string &_mode);
186 
189  public: void SetLaserRetro(const float _retro);
190 
193  public: virtual void FillMsg(msgs::Model &_msg);
194 
197  public: void ProcessMsg(const msgs::Model &_msg);
198 
203  public: void SetJointPosition(const std::string &_jointName,
204  double _position, int _index = 0);
205 
209  public: void SetJointPositions(
210  const std::map<std::string, double> &_jointPositions);
211 
216  public: void SetJointAnimation(
217  const std::map<std::string, common::NumericAnimationPtr> &_anims,
218  boost::function<void()> _onComplete = NULL);
219 
221  public: virtual void StopAnimation();
222 
237  public: void AttachStaticModel(ModelPtr &_model, math::Pose _offset);
238 
242  public: void DetachStaticModel(const std::string &_model);
243 
246  public: void SetState(const ModelState &_state);
247 
250  public: void SetScale(const math::Vector3 &_scale);
251 
254  public: void SetEnabled(bool _enabled);
255 
262  public: void SetLinkWorldPose(const math::Pose &_pose,
263  std::string _linkName);
264 
271  public: void SetLinkWorldPose(const math::Pose &_pose,
272  const LinkPtr &_link);
273 
277  public: void SetAutoDisable(bool _disable);
278 
281  public: bool GetAutoDisable() const;
282 
286  public: void LoadPlugins();
287 
290  public: unsigned int GetPluginCount() const;
291 
295  public: unsigned int GetSensorCount() const;
296 
299  public: JointControllerPtr GetJointController();
300 
303  public: GripperPtr GetGripper(size_t _index) const;
304 
308  public: size_t GetGripperCount() const;
309 
313  public: double GetWorldEnergyPotential() const;
314 
319  public: double GetWorldEnergyKinetic() const;
320 
325  public: double GetWorldEnergy() const;
326 
328  protected: virtual void OnPoseChange();
329 
331  private: void LoadLinks();
332 
335  private: void LoadJoint(sdf::ElementPtr _sdf);
336 
339  private: void LoadPlugin(sdf::ElementPtr _sdf);
340 
343  private: void LoadGripper(sdf::ElementPtr _sdf);
344 
348  private: void RemoveLink(const std::string &_name);
349 
351  protected: std::vector<ModelPtr> attachedModels;
352 
354  protected: std::vector<math::Pose> attachedModelsOffset;
355 
358 
360  private: LinkPtr canonicalLink;
361 
363  private: Joint_V joints;
364 
366  private: Link_V links;
367 
369  private: std::vector<GripperPtr> grippers;
370 
372  private: std::vector<ModelPluginPtr> plugins;
373 
375  private: std::map<std::string, common::NumericAnimationPtr>
376  jointAnimations;
377 
379  private: boost::function<void()> onJointAnimationComplete;
380 
382  private: mutable boost::recursive_mutex updateMutex;
383 
385  private: JointControllerPtr jointController;
386  };
388  }
389 }
390 #endif