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| | SimbodyLink (EntityPtr _parent) |
| | Constructor. More...
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| virtual | ~SimbodyLink () |
| | Destructor. More...
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| virtual void | AddForce (const math::Vector3 &_force) |
| | Add a force to the body. More...
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| 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...
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| virtual void | AddForceAtWorldPosition (const math::Vector3 &_force, const math::Vector3 &_pos) |
| | Add a force to the body using a global position. More...
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| 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...
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| 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...
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| virtual void | AddTorque (const math::Vector3 &_torque) |
| | Add a torque to the body. More...
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| virtual void | Fini () |
| | Finalize the body. More...
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| SimTK::MassProperties | GetEffectiveMassProps (int _numFragments) const |
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| virtual bool | GetEnabled () const |
| | Get whether this body is enabled in the physics engine. More...
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| virtual bool | GetGravityMode () const |
| | Get the gravity mode. More...
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| 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...
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| virtual math::Vector3 | GetWorldAngularVel () const |
| | Get the angular velocity of the entity in the world frame. More...
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| virtual math::Vector3 | GetWorldCoGLinearVel () const |
| | Get the linear velocity at the body's center of gravity in the world frame. More...
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| virtual math::Vector3 | GetWorldForce () const |
| | Get the force applied to the body in the world frame. More...
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| 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...
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| 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...
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| virtual math::Vector3 | GetWorldTorque () const |
| | Get the torque applied to the body in the world frame. More...
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| virtual void | Init () |
| | Initialize the body. More...
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| virtual void | Load (sdf::ElementPtr _ptr) |
| | Load the body based on an SDF element. More...
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| virtual void | OnPoseChange () |
| | This function is called when the entity's (or one of its parents) pose of the parent has changed. More...
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| virtual void | RestoreSimbodyState (SimTK::State &_state) |
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| virtual void | SaveSimbodyState (const SimTK::State &_state) |
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| virtual void | SetAngularDamping (double _damping) |
| | Set the angular damping factor. More...
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| virtual void | SetAngularVel (const math::Vector3 &_vel) |
| | Set the angular velocity of the body. More...
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| virtual void | SetAutoDisable (bool _disable) |
| | Allow the link to auto disable. More...
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| void | SetDirtyPose (const math::Pose &_pose) |
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| virtual void | SetEnabled (bool enable) const |
| | Set whether this body is enabled. More...
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| virtual void | SetForce (const math::Vector3 &_force) |
| | Set the force applied to the body. More...
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| virtual void | SetGravityMode (bool _mode) |
| | Set whether gravity affects this body. More...
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| virtual void | SetLinearDamping (double _damping) |
| | Set the linear damping factor. More...
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| virtual void | SetLinearVel (const math::Vector3 &_vel) |
| | Set the linear velocity of the body. More...
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| 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...
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| virtual void | SetSelfCollide (bool _collide) |
| | Set whether this body will collide with others in the model. More...
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| virtual void | SetTorque (const math::Vector3 &_force) |
| | Set the torque applied to the body. More...
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| | Link (EntityPtr _parent) |
| | Constructor. More...
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| virtual | ~Link () |
| | Destructor. More...
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| void | AddChildJoint (JointPtr _joint) |
| | Joints that have this Link as a parent Link. More...
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| void | AddParentJoint (JointPtr _joint) |
| | Joints that have this Link as a child Link. More...
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| void | AttachStaticModel (ModelPtr &_model, const math::Pose &_offset) |
| | Attach a static model to this link. More...
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| template<typename T > |
| event::ConnectionPtr | ConnectEnabled (T _subscriber) |
| | Connect to the add entity signal. More...
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| void | DetachAllStaticModels () |
| | Detach all static models from this link. More...
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| void | DetachStaticModel (const std::string &_modelName) |
| | Detach a static model from this link. More...
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| void | DisconnectEnabled (event::ConnectionPtr &_conn) |
| | Disconnect to the add entity signal. More...
|
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| void | FillMsg (msgs::Link &_msg) |
| | Fill a link message. More...
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| double | GetAngularDamping () const |
| | Get the angular damping factor. More...
|
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| virtual math::Box | GetBoundingBox () const |
| | Get the bounding box for the link and all the child elements. More...
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| Joint_V | GetChildJoints () const |
| | Get the child joints. More...
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| Link_V | GetChildJointsLinks () const |
| | Returns a vector of children Links connected by joints. More...
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| CollisionPtr | GetCollision (const std::string &_name) |
| | Get a child collision by name. More...
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| CollisionPtr | GetCollision (unsigned int _index) const |
| | Get a child collision by index. More...
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| Collision_V | GetCollisions () const |
| | Get all the child collisions. More...
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| InertialPtr | GetInertial () const |
| | Get the inertia of the link. More...
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| virtual bool | GetKinematic () const |
| | Implement this function. More...
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| double | GetLinearDamping () const |
| | Get the linear damping factor. More...
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| ModelPtr | GetModel () const |
| | Get the model that this body belongs to. More...
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| Joint_V | GetParentJoints () const |
| | Get the parent joints. More...
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| Link_V | GetParentJointsLinks () const |
| | Returns a vector of parent Links connected by joints. More...
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| math::Vector3 | GetRelativeAngularAccel () const |
| | Get the angular acceleration of the body. More...
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| math::Vector3 | GetRelativeAngularVel () const |
| | Get the angular velocity of the body. More...
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| math::Vector3 | GetRelativeForce () const |
| | Get the force applied to the body. More...
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| math::Vector3 | GetRelativeLinearAccel () const |
| | Get the linear acceleration of the body. More...
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| math::Vector3 | GetRelativeLinearVel () const |
| | Get the linear velocity of the body. More...
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| math::Vector3 | GetRelativeTorque () const |
| | Get the torque applied to the body. More...
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| 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...
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| unsigned int | GetSensorCount () const |
| | Get sensor count. More...
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| std::string | GetSensorName (unsigned int _index) const |
| | Get sensor name. More...
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| math::Vector3 | GetWorldAngularAccel () const |
| | Get the angular acceleration of the body in the world frame. More...
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| math::Pose | GetWorldCoGPose () const |
| | Get the pose of the body's center of gravity in the world coordinate frame. More...
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| double | GetWorldEnergy () const |
| | Returns this link's total energy, or sum of Link::GetWorldEnergyPotential() and Link::GetWorldEnergyKinetic(). More...
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| double | GetWorldEnergyKinetic () const |
| | Returns this link's kinetic energy computed using link's CoG velocity in the inertial (world) frame. More...
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| double | GetWorldEnergyPotential () const |
| | Returns this link's potential energy, based on position in world frame and gravity. More...
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| math::Pose | GetWorldInertialPose () const |
| | Get the world pose of the link inertia (cog position and Moment of Inertia frame). More...
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| math::Matrix3 | GetWorldInertiaMatrix () const |
| | Get the inertia matrix in the world frame. More...
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| math::Vector3 | GetWorldLinearAccel () const |
| | Get the linear acceleration of the body in the world frame. More...
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| virtual math::Vector3 | GetWorldLinearVel () const |
| | Get the linear velocity of the origin of the link frame, expressed in the world frame. More...
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| void | ProcessMsg (const msgs::Link &_msg) |
| | Update parameters from a message. More...
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| virtual void | RemoveChild (EntityPtr _child) |
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| void | RemoveChildJoint (const std::string &_jointName) |
| | Remove Joints that have this Link as a parent Link. More...
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| void | RemoveCollision (const std::string &_name) |
| | Remove a collision from the link. More...
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| void | RemoveParentJoint (const std::string &_jointName) |
| | Remove Joints that have this Link as a child Link. More...
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| void | Reset () |
| | Reset the link. More...
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| void | ResetPhysicsStates () |
| | Reset the link. More...
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| void | SetAngularAccel (const math::Vector3 &_accel) |
| | Set the angular acceleration of the body. More...
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| void | SetCollideMode (const std::string &_mode) |
| | Set the collide mode of the body. More...
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| void | SetInertial (const InertialPtr &_inertial) |
| | Set the mass of the link. More...
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| virtual void | SetKinematic (const bool &_kinematic) |
| | Implement this function. More...
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| void | SetLaserRetro (float _retro) |
| | Set the laser retro reflectiveness. More...
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| void | SetLinearAccel (const math::Vector3 &_accel) |
| | Set the linear acceleration of the body. More...
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| void | SetPublishData (bool _enable) |
| | Enable/Disable link data publishing. More...
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| void | SetScale (const math::Vector3 &_scale) |
| | Set the scale of the link. More...
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| virtual bool | SetSelected (bool _set) |
| | Set whether this entity has been selected by the user through the gui. More...
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| void | SetState (const LinkState &_state) |
| | Set the current link state. More...
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| void | Update (const common::UpdateInfo &_info) |
| | Update the collision. More...
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| virtual void | UpdateMass () |
| | Update the mass matrix. More...
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| virtual void | UpdateParameters (sdf::ElementPtr _sdf) |
| | Update the parameters using new sdf values. More...
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| virtual void | UpdateSurface () |
| | Update surface parameters. More...
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| | Entity (BasePtr _parent) |
| | Constructor. More...
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| virtual | ~Entity () |
| | Destructor. More...
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| CollisionPtr | GetChildCollision (const std::string &_name) |
| | Get a child collision entity, if one exists. More...
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| LinkPtr | GetChildLink (const std::string &_name) |
| | Get a child linke entity, if one exists. More...
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| math::Box | GetCollisionBoundingBox () const |
| | Returns collision bounding box. More...
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| const math::Pose & | GetDirtyPose () const |
| | Returns Entity::dirtyPose. More...
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| math::Pose | GetInitialRelativePose () const |
| | Get the initial relative pose. More...
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| void | GetNearestEntityBelow (double &_distBelow, std::string &_entityName) |
| | Get the distance to the nearest entity below (along the Z-axis) this entity. More...
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| ModelPtr | GetParentModel () |
| | Get the parent model, if one exists. More...
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| math::Pose | GetRelativePose () const |
| | Get the pose of the entity relative to its parent. More...
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| const math::Pose & | GetWorldPose () const |
| | Get the absolute pose of the entity. More...
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| bool | IsCanonicalLink () const |
| | A helper function that checks if this is a canonical body. More...
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| bool | IsStatic () const |
| | Return whether this entity is static. More...
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| void | PlaceOnEntity (const std::string &_entityName) |
| | Move this entity to be ontop of another entity by name. More...
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| void | PlaceOnNearestEntityBelow () |
| | Move this entity to be ontop of the nearest entity below. More...
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| void | SetAnimation (const common::PoseAnimationPtr &_anim, boost::function< void()> _onComplete) |
| | Set an animation for this entity. More...
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| void | SetAnimation (common::PoseAnimationPtr _anim) |
| | Set an animation for this entity. More...
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| void | SetCanonicalLink (bool _value) |
| | Set to true if this entity is a canonical link for a model. More...
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| void | SetInitialRelativePose (const math::Pose &_pose) |
| | Set the initial pose. More...
|
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| virtual void | SetName (const std::string &_name) |
| | Set the name of the entity. More...
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| void | SetRelativePose (const math::Pose &_pose, bool _notify=true, bool _publish=true) |
| | Set the pose of the entity relative to its parent. More...
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| void | SetStatic (const bool &_static) |
| | Set whether this entity is static: immovable. More...
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| void | SetWorldPose (const math::Pose &_pose, bool _notify=true, bool _publish=true) |
| | Set the world pose of the entity. More...
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| void | SetWorldTwist (const math::Vector3 &_linear, const math::Vector3 &_angular, bool _updateChildren=true) |
| | Set angular and linear rates of an physics::Entity. More...
|
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| virtual void | StopAnimation () |
| | Stop the current animation, if any. More...
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| | Base (BasePtr _parent) |
| | Constructor. More...
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| virtual | ~Base () |
| | Destructor. More...
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| void | AddChild (BasePtr _child) |
| | Add a child to this entity. More...
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| void | AddType (EntityType _type) |
| | Add a type specifier. More...
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| BasePtr | GetByName (const std::string &_name) |
| | Get by name. More...
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| BasePtr | GetChild (unsigned int _i) const |
| | Get a child by index. More...
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| BasePtr | GetChild (const std::string &_name) |
| | Get a child by name. More...
|
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| unsigned int | GetChildCount () const |
| | Get the number of children. More...
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| uint32_t | GetId () const |
| | Return the ID of this entity. More...
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| std::string | GetName () const |
| | Return the name of the entity. More...
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| BasePtr | GetParent () const |
| | Get the parent. More...
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| int | GetParentId () const |
| | Return the ID of the parent. More...
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| bool | GetSaveable () const |
| | Get whether the object should be "saved", when the user selects to save the world to xml. More...
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| std::string | GetScopedName () const |
| | Return the name of this entity with the model scope world::model1::...::modelN::entityName. More...
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| virtual const sdf::ElementPtr | GetSDF () |
| | Get the SDF values for the object. More...
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| unsigned int | GetType () const |
| | Get the full type definition. More...
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| const WorldPtr & | GetWorld () const |
| | Get the World this object is in. More...
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| bool | HasType (const EntityType &_t) const |
| | Returns true if this object's type definition has the given type. More...
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| bool | IsSelected () const |
| | True if the entity is selected by the user. More...
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| bool | operator== (const Base &_ent) const |
| | Returns true if the entities are the same. More...
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| void | Print (const std::string &_prefix) |
| | Print this object to screen via gzmsg. More...
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| virtual void | RemoveChild (unsigned int _id) |
| | Remove a child from this entity. More...
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| void | RemoveChild (const std::string &_name) |
| | Remove a child by name. More...
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| void | RemoveChildren () |
| | Remove all children. More...
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| virtual void | Reset (Base::EntityType _resetType) |
| | Calls recursive Reset on one of the Base::EntityType's. More...
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| void | SetParent (BasePtr _parent) |
| | Set the parent. More...
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| void | SetSaveable (bool _v) |
| | Set whether the object should be "saved", when the user selects to save the world to xml. More...
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| void | SetWorld (const WorldPtr &_newWorld) |
| | Set the world this object belongs to. More...
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| virtual void | Update () |
| | Update the object. More...
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Public Member Functions inherited from gazebo::physics::Link