Creates box extrusions based on an image. More...

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::MapShape:

Public Member Functions
	MapShape (CollisionPtr _parent)
	Constructor. More...

virtual	~MapShape ()
	Destructor. More...

void	FillMsg (msgs::Geometry &_msg)
	Fills out a msgs::Geometry message containing information about this map geometry object. More...

int	GetGranularity () const
	Returns granularity of this geometry. More...

double	GetHeight () const
	Returns height of this geometry. More...

virtual math::Vector3	GetScale () const
	Returns scaling factor for this geometry. More...

int	GetThreshold () const
	Returns image threshold for this geometry. More...

std::string	GetURI () const
	Returns the image URI for this geometry. More...

virtual void	Init ()
	Init the map. More...

virtual void	Load (sdf::ElementPtr _sdf)
	Load the map. More...

virtual void	ProcessMsg (const msgs::Geometry &_msg)
	: Implement this function. More...

void	SetScale (const math::Vector3 &_scale)
	Set the scale of the map shape. More...

void	Update ()
	Update function. More...

Public Member Functions inherited from gazebo::physics::Shape
	Shape (CollisionPtr _parent)
	Constructor. More...

virtual	~Shape ()
	Destructor. 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...

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...

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, GEARBOX_JOINT = 0x00002000, SHAPE = 0x00010000, BOX_SHAPE = 0x00020000, CYLINDER_SHAPE = 0x00040000, HEIGHTMAP_SHAPE = 0x00080000, MAP_SHAPE = 0x00100000, MULTIRAY_SHAPE = 0x00200000, RAY_SHAPE = 0x00400000, PLANE_SHAPE = 0x00800000, SPHERE_SHAPE = 0x01000000, MESH_SHAPE = 0x02000000, SENSOR_COLLISION = 0x10000000 }
	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...

Protected Attributes inherited from gazebo::physics::Shape
CollisionPtr	collisionParent
	This shape's collision parent. More...

math::Vector3	scale
	This shape's scale;. More...

Detailed Description

Creates box extrusions based on an image.

This function is not yet complete, to be implemented.

Constructor & Destructor Documentation

gazebo::physics::MapShape::MapShape ( CollisionPtr _parent)

explicit

Constructor.

Parameters

[in] _parent Parent collision object.

virtual gazebo::physics::MapShape::~MapShape ( )

virtual

Destructor.

Member Function Documentation

void gazebo::physics::MapShape::FillMsg ( msgs::Geometry & _msg)

virtual

Fills out a msgs::Geometry message containing information about this map geometry object.

Parameters

[in] _msg Message to fill with this object's data.

Implements gazebo::physics::Shape.

int gazebo::physics::MapShape::GetGranularity ( ) const

Returns granularity of this geometry.

Returns: Granularity (amount of error betweent the image pixels and the 3D shapes created).

double gazebo::physics::MapShape::GetHeight ( ) const

Returns height of this geometry.

All regions in image with value larger than MapShape::scale will be replaced by boxes with MapShape::height.

Returns: Height of the map shapes.

virtual math::Vector3 gazebo::physics::MapShape::GetScale ( ) const

virtual

Returns scaling factor for this geometry.

Returns: Scaling factor.

Reimplemented from gazebo::physics::Shape.

int gazebo::physics::MapShape::GetThreshold ( ) const

Returns image threshold for this geometry.

All regions in image with value larger than MapShape::scale will be replaced by boxes with MapShape::height.

Returns: Image threshold value.

std::string gazebo::physics::MapShape::GetURI ( ) const

Returns the image URI for this geometry.

Returns: The image URI that was used to load the map.

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

virtual

Init the map.

Implements gazebo::physics::Shape.

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

virtual

Load the map.

Parameters

[in] _sdf Load the map from SDF values.

Reimplemented from gazebo::physics::Base.

virtual void gazebo::physics::MapShape::ProcessMsg ( const msgs::Geometry & _msg)

virtual

: Implement this function.

Parameters

[in] _msg Message to process, which will alter the map.

Implements gazebo::physics::Shape.

void gazebo::physics::MapShape::SetScale ( const math::Vector3 & _scale)

virtual

Set the scale of the map shape.

Parameters

[in] _scale Scale to set the map shape to.

Implements gazebo::physics::Shape.

void gazebo::physics::MapShape::Update ( )

virtual

Update function.

Reimplemented from gazebo::physics::Base.

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

MapShape.hh

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation