Simbody physics engine. More...

#include <SimbodyPhysics.hh>

Inheritance diagram for gazebo::physics::SimbodyPhysics:

Public Member Functions
	SimbodyPhysics (WorldPtr _world)
	Constructor. More...

virtual	~SimbodyPhysics ()
	Destructor. More...

virtual CollisionPtr	CreateCollision (const std::string &_type, LinkPtr _body)
	Create a collision. More...

virtual JointPtr	CreateJoint (const std::string &_type, ModelPtr _parent)
	Create a new joint. More...

virtual LinkPtr	CreateLink (ModelPtr _parent)
	Create a new body. More...

virtual ModelPtr	CreateModel (BasePtr _parent)
	Create a new model. More...

virtual ShapePtr	CreateShape (const std::string &_shapeType, CollisionPtr _collision)
	Create a physics::Shape object. More...

virtual void	DebugPrint () const
	Debug print out of the physic engine state. More...

virtual void	Fini ()
	Finilize the physics engine. More...

SimTK::MultibodySystem *	GetDynamicsWorld () const
	Register a joint with the dynamics world. More...

virtual boost::any	GetParam (const std::string &_key) const
	Get an parameter of the physics engine. More...

virtual std::string	GetType () const
	Return the physics engine type (ode\|bullet\|dart\|simbody). More...

virtual void	Init ()
	Initialize the physics engine. More...

virtual void	InitForThread ()
	Init the engine for threads. More...

void	InitModel (const physics::ModelPtr _model)
	Add a Model to the Simbody system. More...

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

virtual void	Reset ()
	Rest the physics engine. More...

virtual void	SetGravity (const gazebo::math::Vector3 &_gravity)
	Set the gavity vector. More...

virtual bool	SetParam (const std::string &_key, const boost::any &_value)
	Set a parameter of the physics engine. More...

virtual void	SetSeed (uint32_t _seed)
	Set the random number seed for the physics engine. More...

virtual void	UpdateCollision ()
	Update the physics engine collision. More...

virtual void	UpdatePhysics ()
	Update the physics engine. More...

Public Member Functions inherited from gazebo::physics::PhysicsEngine
	PhysicsEngine (WorldPtr _world)
	Default constructor. More...

virtual	~PhysicsEngine ()
	Destructor. More...

CollisionPtr	CreateCollision (const std::string &_shapeType, const std::string &_linkName)
	Create a collision. More...

virtual bool	GetAutoDisableFlag ()
	: Remove this function, and replace it with a more generic property map More...

ContactManager *	GetContactManager () const
	Get a pointer to the contact manger. More...

virtual double	GetContactMaxCorrectingVel ()
	: Remove this function, and replace it with a more generic property map. More...

virtual double	GetContactSurfaceLayer ()
	: Remove this function, and replace it with a more generic property map. More...

virtual math::Vector3	GetGravity () const
	Return the gavity vector. More...

virtual unsigned int	GetMaxContacts ()
	: Remove this function, and replace it with a more generic property map. More...

double	GetMaxStepSize () const
	Get max step size. More...

boost::recursive_mutex *	GetPhysicsUpdateMutex () const
	returns a pointer to the PhysicsEngine::physicsUpdateMutex. More...

double	GetRealTimeUpdateRate () const
	Get real time update rate. More...

virtual int	GetSORPGSIters () GAZEBO_DEPRECATED(3.0)
	: Remove this function, and replace it with a more generic property map More...

virtual int	GetSORPGSPreconIters () GAZEBO_DEPRECATED(3.0)
	: Remove this function, and replace it with a more generic property map More...

virtual double	GetSORPGSW () GAZEBO_DEPRECATED(3.0)
	: Remove this function, and replace it with a more generic property map. More...

double	GetTargetRealTimeFactor () const
	Get target real time factor. More...

double	GetUpdatePeriod ()
	Get the simulation update period. More...

virtual double	GetWorldCFM ()
	: Remove this function, and replace it with a more generic property map More...

virtual double	GetWorldERP ()
	: Remove this function, and replace it with a more generic property map More...

virtual void	SetAutoDisableFlag (bool _autoDisable)
	: Remove this function, and replace it with a more generic property map More...

virtual void	SetContactMaxCorrectingVel (double _vel)
	: Remove this function, and replace it with a more generic property map More...

virtual void	SetContactSurfaceLayer (double _layerDepth)
	: Remove this function, and replace it with a more generic property map More...

virtual void	SetMaxContacts (unsigned int _maxContacts)
	: Remove this function, and replace it with a more generic property map More...

void	SetMaxStepSize (double _stepSize)
	Set max step size. More...

void	SetRealTimeUpdateRate (double _rate)
	Set real time update rate. More...

virtual void	SetSORPGSIters (unsigned int _iters) GAZEBO_DEPRECATED(3.0)
	: Remove this function, and replace it with a more generic property map More...

virtual void	SetSORPGSPreconIters (unsigned int _iters) GAZEBO_DEPRECATED(3.0)
	: Remove this function, and replace it with a more generic property map More...

virtual void	SetSORPGSW (double _w) GAZEBO_DEPRECATED(3.0)
	: Remove this function, and replace it with a more generic property map More...

void	SetTargetRealTimeFactor (double _factor)
	Set target real time factor. More...

virtual void	SetWorldCFM (double _cfm)
	: Remove this function, and replace it with a more generic property map More...

virtual void	SetWorldERP (double _erp)
	: Remove this function, and replace it with a more generic property map More...

Static Public Member Functions
static SimTK::Transform	GetPose (sdf::ElementPtr _element)
	If the given element contains a <pose> element, return it as a Transform. More...

static std::string	GetTypeString (unsigned int _type)
	Convert Base::GetType() to string, this is needed by the MultibodyGraphMaker. More...

static std::string	GetTypeString (physics::Base::EntityType _type)
	Convert Base::GetType() to string, this is needed by the MultibodyGraphMaker. More...

static SimTK::Transform	Pose2Transform (const math::Pose &_pose)
	Convert the given pose in x,y,z,thetax,thetay,thetaz format to a Simbody Transform. More...

static SimTK::Quaternion	QuadToQuad (const math::Quaternion &_q)
	Convert gazebo::math::Quaternion to SimTK::Quaternion. More...

static math::Quaternion	QuadToQuad (const SimTK::Quaternion &_q)
	Convert SimTK::Quaternion to gazebo::math::Quaternion. More...

static math::Pose	Transform2Pose (const SimTK::Transform &_xAB)
	Convert a Simbody transform to a pose in x,y,z, thetax,thetay,thetaz format. More...

static math::Vector3	Vec3ToVector3 (const SimTK::Vec3 &_v)
	Convert SimTK::Vec3 to gazebo::math::Vector3. More...

static SimTK::Vec3	Vector3ToVec3 (const math::Vector3 &_v)
	Convert gazebo::math::Vector3 to SimTK::Vec3. More...

Public Attributes
SimTK::CompliantContactSubsystem	contact

SimTK::Force::DiscreteForces	discreteForces

SimTK::GeneralForceSubsystem	forces

SimTK::Force::Gravity	gravity

SimTK::Integrator *	integ

SimTK::SimbodyMatterSubsystem	matter

bool	simbodyPhysicsInitialized
	true if initialized More...

bool	simbodyPhysicsStepped

SimTK::MultibodySystem	system

SimTK::ContactTrackerSubsystem	tracker

Protected Member Functions
virtual void	OnPhysicsMsg (ConstPhysicsPtr &_msg)
	virtual callback for gztopic "~/physics". More...

virtual void	OnRequest (ConstRequestPtr &_msg)
	virtual callback for gztopic "~/request". More...

Additional Inherited Members
Protected Attributes inherited from gazebo::physics::PhysicsEngine
ContactManager *	contactManager
	Class that handles all contacts generated by the physics engine. More...

double	maxStepSize
	Real time update rate. More...

transport::NodePtr	node
	Node for communication. More...

transport::SubscriberPtr	physicsSub
	Subscribe to the physics topic. More...

boost::recursive_mutex *	physicsUpdateMutex
	Mutex to protect the update cycle. More...

double	realTimeUpdateRate
	Real time update rate. More...

transport::SubscriberPtr	requestSub
	Subscribe to the request topic. More...

transport::PublisherPtr	responsePub
	Response publisher. More...

sdf::ElementPtr	sdf
	Our SDF values. More...

double	targetRealTimeFactor
	Target real time factor. More...

WorldPtr	world
	Pointer to the world. More...

Detailed Description

Simbody physics engine.

Constructor & Destructor Documentation

gazebo::physics::SimbodyPhysics::SimbodyPhysics ( WorldPtr _world)

Constructor.

virtual gazebo::physics::SimbodyPhysics::~SimbodyPhysics ( )

virtual

Destructor.

Member Function Documentation

virtual CollisionPtr gazebo::physics::SimbodyPhysics::CreateCollision	(	const std::string &	_shapeType,
		LinkPtr	_link
	)

virtual

Create a collision.

Parameters

[in]	_shapeType	Type of collision to create.
[in]	_link	Parent link.

Implements gazebo::physics::PhysicsEngine.

virtual JointPtr gazebo::physics::SimbodyPhysics::CreateJoint	(	const std::string &	_type,
		ModelPtr	_parent
	)

virtual

Create a new joint.

Parameters

[in]	_type	Type of joint to create.
[in]	_parent	Model parent.

Implements gazebo::physics::PhysicsEngine.

virtual LinkPtr gazebo::physics::SimbodyPhysics::CreateLink ( ModelPtr _parent)

virtual

Create a new body.

Parameters

[in] _parent Parent model for the link.

Implements gazebo::physics::PhysicsEngine.

virtual ModelPtr gazebo::physics::SimbodyPhysics::CreateModel ( BasePtr _base)

virtual

Create a new model.

Parameters

[in] _base Boost shared pointer to a new model.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual ShapePtr gazebo::physics::SimbodyPhysics::CreateShape	(	const std::string &	_shapeType,
		CollisionPtr	_collision
	)

virtual

Create a physics::Shape object.

Parameters

[in]	_shapeType	Type of shape to create.
[in]	_collision	Collision parent.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::SimbodyPhysics::DebugPrint ( ) const

virtual

Debug print out of the physic engine state.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::SimbodyPhysics::Fini ( )

virtual

Finilize the physics engine.

Reimplemented from gazebo::physics::PhysicsEngine.

SimTK::MultibodySystem* gazebo::physics::SimbodyPhysics::GetDynamicsWorld ( ) const

Register a joint with the dynamics world.

virtual boost::any gazebo::physics::SimbodyPhysics::GetParam ( const std::string & _key) const

virtual

Get an parameter of the physics engine.

Parameters

[in] _attr String key

See Also: SetParam

Returns: The value of the parameter

Reimplemented from gazebo::physics::PhysicsEngine.

static SimTK::Transform gazebo::physics::SimbodyPhysics::GetPose ( sdf::ElementPtr _element)

static

If the given element contains a <pose> element, return it as a Transform.

Otherwise return the identity Transform. If there is more than one <pose> element, only the first one is processed.

virtual std::string gazebo::physics::SimbodyPhysics::GetType ( ) const

virtual

Return the physics engine type (ode|bullet|dart|simbody).

Returns: Type of the physics engine.

Implements gazebo::physics::PhysicsEngine.

static std::string gazebo::physics::SimbodyPhysics::GetTypeString ( unsigned int _type)

static

Convert Base::GetType() to string, this is needed by the MultibodyGraphMaker.

Parameters

[in] _type Joint type returned by Joint::GetType().

Returns: a hard-coded string needed by the MultibodyGraphMaker.

static std::string gazebo::physics::SimbodyPhysics::GetTypeString ( physics::Base::EntityType _type)

static

Convert Base::GetType() to string, this is needed by the MultibodyGraphMaker.

Parameters

[in] _type Joint type returned by Joint::GetType().

Returns: a hard-coded string needed by the MultibodyGraphMaker.

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

virtual

Initialize the physics engine.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::SimbodyPhysics::InitForThread ( )

virtual

Init the engine for threads.

Implements gazebo::physics::PhysicsEngine.

void gazebo::physics::SimbodyPhysics::InitModel ( const physics::ModelPtr _model)

Add a Model to the Simbody system.

Parameters

[in] _model Pointer to the model to add into Simbody.

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

virtual

Load the physics engine.

Parameters

[in] _sdf Pointer to the SDF parameters.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::SimbodyPhysics::OnPhysicsMsg ( ConstPhysicsPtr & _msg)

protectedvirtual

virtual callback for gztopic "~/physics".

Parameters

[in] _msg Physics message.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::SimbodyPhysics::OnRequest ( ConstRequestPtr & _msg)

protectedvirtual

virtual callback for gztopic "~/request".

Parameters

[in] _msg Request message.

Reimplemented from gazebo::physics::PhysicsEngine.

static SimTK::Transform gazebo::physics::SimbodyPhysics::Pose2Transform ( const math::Pose & _pose)

static

Convert the given pose in x,y,z,thetax,thetay,thetaz format to a Simbody Transform.

The rotation angles are interpreted as a body-fixed sequence, meaning we rotation about x, then about the new y, then about the now twice-rotated z.

Parameters

[in] _pose Gazeb's math::Pose object

Returns: Simbody's SimTK::Transform object

static SimTK::Quaternion gazebo::physics::SimbodyPhysics::QuadToQuad ( const math::Quaternion & _q)

static

Convert gazebo::math::Quaternion to SimTK::Quaternion.

Parameters

[in] _q Gazeb's math::Quaternion object

Returns: Simbody's SimTK::Quaternion object

static math::Quaternion gazebo::physics::SimbodyPhysics::QuadToQuad ( const SimTK::Quaternion & _q)

static

Convert SimTK::Quaternion to gazebo::math::Quaternion.

Parameters

[in] _q Simbody's SimTK::Quaternion object

Returns: Gazeb's math::Quaternion object

virtual void gazebo::physics::SimbodyPhysics::Reset ( )

virtual

Rest the physics engine.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::SimbodyPhysics::SetGravity ( const gazebo::math::Vector3 & _gravity)

virtual

Set the gavity vector.

Parameters

[in] _gravity New gravity vector.

Implements gazebo::physics::PhysicsEngine.

virtual bool gazebo::physics::SimbodyPhysics::SetParam	(	const std::string &	_key,
		const boost::any &	_value
	)

virtual

Set a parameter of the physics engine.

See SetParam documentation for descriptions of duplicate parameters.

Parameters

[in]	_key	String key Below is a list of _key parameter definitions: "solver_type" (string) - returns solver used by engine, e.g. "sequential_impulse' for Bullet, "quick" for ODE "Featherstone and Lemkes" for DART and "Spatial Algebra and Elastic Foundation" for Simbody. -# "type" (string) - deprecated, use keyword "solver_type". -# "cfm" (double) - global CFM -# "erp" (double) - global ERP -# "precon_iters" (bool) - precondition iterations (experimental). "iters" (int) - number of LCP PGS iterations. If sor_lcp_tolerance is negative, full iteration count is executed. Otherwise, PGS may stop iteration early if sor_lcp_tolerance is satisfied by the total RMS residual. "sor" (double) - relaxation parameter for Projected Gauss-Seidel (PGS) updates. "contact_max_correcting_vel" (double) - truncates correction impulses from ERP by this value. "contact_surface_layer" (double) - ERP is 0 for interpenetration depths below this value. "max_contacts" (int) - max number of contact constraints between any pair of collision bodies. "min_step_size" (double) - minimum internal step size. (defined but not used in ode). "max_step_size" (double) - maximum physics step size when physics update step must return.
[in]	_value	The value to set to

Returns: true if SetParam is successful, false if operation fails.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::SimbodyPhysics::SetSeed ( uint32_t _seed)

virtual

Set the random number seed for the physics engine.

Parameters

[in] _seed The random number seed.

Implements gazebo::physics::PhysicsEngine.

static math::Pose gazebo::physics::SimbodyPhysics::Transform2Pose ( const SimTK::Transform & _xAB)

static

Convert a Simbody transform to a pose in x,y,z, thetax,thetay,thetaz format.

Parameters

[in] _xAB Simbody's SimTK::Transform object

Returns: Gazeb's math::Pose object

virtual void gazebo::physics::SimbodyPhysics::UpdateCollision ( )

virtual

Update the physics engine collision.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::SimbodyPhysics::UpdatePhysics ( )

virtual

Update the physics engine.

Reimplemented from gazebo::physics::PhysicsEngine.

static math::Vector3 gazebo::physics::SimbodyPhysics::Vec3ToVector3 ( const SimTK::Vec3 & _v)

static

Convert SimTK::Vec3 to gazebo::math::Vector3.

Parameters

[in] _v Simbody's SimTK::Vec3 object

Returns: Gazeb's math::Vector3 object

static SimTK::Vec3 gazebo::physics::SimbodyPhysics::Vector3ToVec3 ( const math::Vector3 & _v)

static

Convert gazebo::math::Vector3 to SimTK::Vec3.

Parameters

[in] _v Gazeb's math::Vector3 object

Returns: Simbody's SimTK::Vec3 object

Member Data Documentation

SimTK::CompliantContactSubsystem gazebo::physics::SimbodyPhysics::contact

SimTK::Force::DiscreteForces gazebo::physics::SimbodyPhysics::discreteForces

SimTK::GeneralForceSubsystem gazebo::physics::SimbodyPhysics::forces

SimTK::Force::Gravity gazebo::physics::SimbodyPhysics::gravity

SimTK:: Integrator* gazebo::physics::SimbodyPhysics::integ

SimTK::SimbodyMatterSubsystem gazebo::physics::SimbodyPhysics::matter

bool gazebo::physics::SimbodyPhysics::simbodyPhysicsInitialized

true if initialized

bool gazebo::physics::SimbodyPhysics::simbodyPhysicsStepped

SimTK::MultibodySystem gazebo::physics::SimbodyPhysics::system

SimTK::ContactTrackerSubsystem gazebo::physics::SimbodyPhysics::tracker

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

SimbodyPhysics.hh

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation