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gazebo::physics::MapShape Class Reference

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

#include <physics/physics.hh>

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

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 WorldPtrGetWorld () 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]_parentParent 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]_msgMessage 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]_sdfLoad 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]_msgMessage 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]_scaleScale 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: