Simbody specific version of MultiRayShape. More...
#include <SimbodyMultiRayShape.hh>
Public Member Functions | |
| SimbodyMultiRayShape (CollisionPtr parent) | |
| Constructor. More... | |
| virtual | ~SimbodyMultiRayShape () |
| Destructor. More... | |
| virtual void | UpdateRays () |
| Physics engine specific method for updating the rays. More... | |
 Public Member Functions inherited from gazebo::physics::MultiRayShape | |
| MultiRayShape (CollisionPtr _parent) | |
| Constructor. More... | |
| virtual | ~MultiRayShape () |
| Destructor. More... | |
| template<typename T > | |
| event::ConnectionPtr | ConnectNewLaserScans (T _subscriber) |
| Connect a to the new laser scan signal. More... | |
| void | DisconnectNewLaserScans (event::ConnectionPtr &_conn) |
| Disconnect from the new laser scans signal. More... | |
| void | FillMsg (msgs::Geometry &_msg) |
| This function is not implemented. More... | |
| int | GetFiducial (unsigned int _index) |
| Get detected fiducial value for a ray. More... | |
| math::Angle | GetMaxAngle () const |
| Get the maximum angle. More... | |
| double | GetMaxRange () const |
| Get the maximum range. More... | |
| math::Angle | GetMinAngle () const |
| Get the minimum angle. More... | |
| double | GetMinRange () const |
| Get the minimum range. More... | |
| double | GetRange (unsigned int _index) |
| Get detected range for a ray. More... | |
| double | GetResRange () const |
| Get the range resolution. More... | |
| double | GetRetro (unsigned int _index) |
| Get detected retro (intensity) value for a ray. More... | |
| int | GetSampleCount () const |
| Get the horizontal sample count. More... | |
| double | GetScanResolution () const |
| Get the horizontal resolution. More... | |
| math::Angle | GetVerticalMaxAngle () const |
| Get the vertical max angle. More... | |
| math::Angle | GetVerticalMinAngle () const |
| Get the vertical min angle. More... | |
| int | GetVerticalSampleCount () const |
| Get the vertical sample count. More... | |
| double | GetVerticalScanResolution () const |
| Get the vertical range resolution. More... | |
| virtual void | Init () |
| Init the shape. More... | |
| virtual void | ProcessMsg (const msgs::Geometry &_msg) |
| This function is not implemented. More... | |
| virtual void | SetScale (const math::Vector3 &_scale) |
| Set the scale of the multi ray shape. More... | |
| void | Update () |
| Update the ray collisions. More... | |
| Public Member Functions inherited from gazebo::physics::Shape | |
| Shape (CollisionPtr _parent) | |
| Constructor. More... | |
| virtual | ~Shape () |
| Destructor. More... | |
| virtual math::Vector3 | GetScale () const |
| Get the scale of the shape. 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... | |
| virtual void | Load (sdf::ElementPtr _sdf) |
| Load. 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... | |
Protected Member Functions | |
| virtual void | AddRay (const math::Vector3 &_start, const math::Vector3 &_end) |
| Add a ray to the collision. 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 Attributes inherited from gazebo::physics::MultiRayShape | |
| sdf::ElementPtr | horzElem |
| Horizontal SDF element pointer. More... | |
| event::EventT< void()> | newLaserScans |
| New laser scans event. More... | |
| math::Pose | offset |
| Pose offset of all the rays. More... | |
| sdf::ElementPtr | rangeElem |
| Range SDF element pointer. More... | |
| sdf::ElementPtr | rayElem |
| Ray SDF element pointer. More... | |
| std::vector< RayShapePtr > | rays |
| Ray data. More... | |
| sdf::ElementPtr | scanElem |
| Scan SDF element pointer. More... | |
| sdf::ElementPtr | vertElem |
| Vertical SDF element pointer. More... | |
Simbody specific version of MultiRayShape.
| gazebo::physics::SimbodyMultiRayShape::SimbodyMultiRayShape | ( | CollisionPtr | parent) |
Constructor.
|
virtual |
Destructor.
|
protectedvirtual |
Add a ray to the collision.
| [in] | _start | Start of the ray. |
| [in] | _end | End of the ray. |
Reimplemented from gazebo::physics::MultiRayShape.
|
virtual |
Physics engine specific method for updating the rays.
Implements gazebo::physics::MultiRayShape.