Collaboration diagram for Classes for physics and dynamics:

Modules
	DART Physics
	dart physics engine wrapper

	Bullet Physics

	Simbody Physics
	simbody physics engine wrapper

Files
file	DARTTypes.hh
	DART wrapper forward declarations and typedefs.

file	PhysicsTypes.hh
	default namespace for gazebo

file	SimbodyTypes.hh
	Simbody wrapper forward declarations and typedefs.

Namespaces
	gazebo::physics
	namespace for physics

Classes
class	gazebo::physics::Actor
	Actor class enables GPU based mesh model / skeleton scriptable animation. More...

class	gazebo::physics::BallJoint< T >
	Base class for a ball joint. More...

class	gazebo::physics::Base
	Base class for most physics classes. More...

class	gazebo::physics::BoxShape
	Box geometry primitive. More...

class	gazebo::physics::Collision
	Base class for all collision entities. More...

class	gazebo::physics::CollisionState
	Store state information of a physics::Collision object. More...

class	gazebo::physics::Contact
	A contact between two collisions. More...

class	gazebo::physics::ContactManager
	Aggregates all the contact information generated by the collision detection engine. More...

class	gazebo::physics::CylinderShape
	Cylinder collision. More...

class	gazebo::physics::Entity
	Base class for all physics objects in Gazebo. More...

class	gazebo::physics::FrictionPyramid
	Parameters used for friction pyramid model. More...

class	gazebo::physics::GearboxJoint< T >
	A double axis gearbox joint. More...

class	gazebo::physics::Gripper
	A gripper abstraction. More...

class	gazebo::physics::HeightmapShape
	HeightmapShape collision shape builds a heightmap from an image. More...

class	gazebo::physics::Hinge2Joint< T >
	A two axis hinge joint. More...

class	gazebo::physics::HingeJoint< T >
	A single axis hinge joint. More...

class	gazebo::physics::Inertial
	A class for inertial information about a link. More...

class	gazebo::physics::Joint
	Base class for all joints. More...

class	gazebo::physics::JointController
	A class for manipulating physics::Joint. More...

class	gazebo::physics::JointState
	keeps track of state of a physics::Joint More...

class	gazebo::physics::JointWrench
	Wrench information from a joint. More...

class	gazebo::physics::Link
	Link class defines a rigid body entity, containing information on inertia, visual and collision properties of a rigid body. More...

class	gazebo::physics::LinkState
	Store state information of a physics::Link object. More...

class	Logplay
	Open and playback log files that were recorded using LogRecord. More...

class	gazebo::util::LogPlay

class	gazebo::physics::MapShape
	Creates box extrusions based on an image. More...

class	gazebo::physics::MeshShape
	Triangle mesh collision shape. More...

class	gazebo::physics::Model
	A model is a collection of links, joints, and plugins. More...

class	gazebo::physics::ModelState
	Store state information of a physics::Model object. More...

class	gazebo::physics::MultiRayShape
	Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner. More...

class	gazebo::physics::PhysicsEngine
	Base class for a physics engine. More...

class	gazebo::physics::PhysicsFactory
	The physics factory instantiates different physics engines. More...

class	gazebo::physics::PlaneShape
	Collision for an infinite plane. More...

class	QuadNode

class	gazebo::physics::RayShape
	Base class for Ray collision geometry. More...

class	gazebo::physics::Road
	for building a Road from SDF More...

class	gazebo::physics::ScrewJoint< T >
	A screw joint, which has both prismatic and rotational DOFs. More...

class	gazebo::physics::Shape
	Base class for all shapes. More...

class	gazebo::physics::SimbodyModel
	A model is a collection of links, joints, and plugins. More...

class	gazebo::physics::SliderJoint< T >
	A slider joint. More...

class	gazebo::physics::SphereShape
	Sphere collision shape. More...

class	gazebo::physics::State
	State of an entity. More...

class	gazebo::physics::SurfaceParams
	SurfaceParams defines various Surface contact parameters. More...

class	gazebo::physics::UniversalJoint< T >
	A universal joint. More...

class	gazebo::physics::World
	The world provides access to all other object within a simulated environment. More...

class	gazebo::physics::WorldState
	Store state information of a physics::World object. More...

Macros
#define	GZ_REGISTER_PHYSICS_ENGINE(name, classname)
	Static physics registration macro. More...

Typedefs
typedef PhysicsEnginePtr(*	gazebo::physics::PhysicsFactoryFn )(WorldPtr world)

Functions
GAZEBO_VISIBLE WorldPtr	gazebo::physics::create_world (const std::string &_name="")
	Create a world given a name. More...

GAZEBO_VISIBLE bool	gazebo::physics::fini ()
	Finalize transport by calling gazebo::transport::fini. More...

GAZEBO_VISIBLE WorldPtr	gazebo::physics::get_world (const std::string &_name="")
	Returns a pointer to a world by name. More...

GAZEBO_VISIBLE uint32_t	gazebo::physics::getUniqueId ()
	Get a unique ID. More...

GAZEBO_VISIBLE void	gazebo::physics::init_world (WorldPtr _world)
	Init world given a pointer to it. More...

GAZEBO_VISIBLE void	gazebo::physics::init_worlds ()
	initialize multiple worlds stored in static variable gazebo::g_worlds More...

GAZEBO_VISIBLE bool	gazebo::physics::load ()
	Setup gazebo::SystemPlugin's and call gazebo::transport::init. More...

GAZEBO_VISIBLE void	gazebo::physics::load_world (WorldPtr _world, sdf::ElementPtr _sdf)
	Load world from sdf::Element pointer. More...

GAZEBO_VISIBLE void	gazebo::physics::load_worlds (sdf::ElementPtr _sdf)
	load multiple worlds from single sdf::Element pointer More...

GAZEBO_VISIBLE void	gazebo::physics::pause_world (WorldPtr _world, bool _pause)
	Pause world by calling World::SetPaused. More...

GAZEBO_VISIBLE void	gazebo::physics::pause_worlds (bool pause)
	pause multiple worlds stored in static variable gazebo::g_worlds More...

GAZEBO_VISIBLE void	gazebo::physics::remove_worlds ()
	remove multiple worlds stored in static variable gazebo::g_worlds More...

GAZEBO_VISIBLE void	gazebo::physics::run_world (WorldPtr _world, unsigned int _iterations=0)
	Run world by calling World::Run() given a pointer to it. More...

GAZEBO_VISIBLE void	gazebo::physics::run_worlds (unsigned int _iterations=0)
	Run multiple worlds stored in static variable gazebo::g_worlds. More...

GAZEBO_VISIBLE void	gazebo::physics::stop_world (WorldPtr _world)
	Stop world by calling World::Stop() given a pointer to it. More...

GAZEBO_VISIBLE void	gazebo::physics::stop_worlds ()
	stop multiple worlds stored in static variable gazebo::g_worlds More...

GAZEBO_VISIBLE bool	gazebo::physics::worlds_running ()
	Return true if any world is running. More...

Variables
static std::string	gazebo::physics::EntityTypename []
	String names for the different entity types. More...

Detailed Description

Macro Definition Documentation

#define GZ_REGISTER_PHYSICS_ENGINE	(	name,
		classname
	)

Value:

GAZEBO_VISIBLE PhysicsEnginePtr New##classname(WorldPtr _world) \
    { \
      return PhysicsEnginePtr(new gazebo::physics::classname(_world)); \
    } \
    GAZEBO_VISIBLE \
    void Register##classname() \
    {\
      PhysicsFactory::RegisterPhysicsEngine(name, New##classname);\
    }

Static physics registration macro.

Use this macro to register physics engine with the server.

Parameters

[in]	name	Physics type name, as it appears in the world file.
[in]	classname	C++ class name for the physics engine.

Typedef Documentation

typedef PhysicsEnginePtr(* gazebo::physics::PhysicsFactoryFn)(WorldPtr world)

Function Documentation

GAZEBO_VISIBLE WorldPtr gazebo::physics::create_world ( const std::string & _name = "")

Create a world given a name.

Parameters

[in] _name Name of the world to create.

Returns: Pointer to the new world.

GAZEBO_VISIBLE bool gazebo::physics::fini ( )

Finalize transport by calling gazebo::transport::fini.

GAZEBO_VISIBLE WorldPtr gazebo::physics::get_world ( const std::string & _name = "")

Returns a pointer to a world by name.

Parameters

[in] _name Name of the world to get.

Returns: Pointer to the world.

GAZEBO_VISIBLE uint32_t gazebo::physics::getUniqueId ( )

Get a unique ID.

Returns: A unique integer

GAZEBO_VISIBLE void gazebo::physics::init_world ( WorldPtr _world)

Init world given a pointer to it.

Parameters

[in] _world World to initialize.

GAZEBO_VISIBLE void gazebo::physics::init_worlds ( )

initialize multiple worlds stored in static variable gazebo::g_worlds

GAZEBO_VISIBLE bool gazebo::physics::load ( )

Setup gazebo::SystemPlugin's and call gazebo::transport::init.

GAZEBO_VISIBLE void gazebo::physics::load_world	(	WorldPtr	_world,
		sdf::ElementPtr	_sdf
	)

Load world from sdf::Element pointer.

Parameters

[in]	_world	Pointer to a world.
[in]	_sdf	SDF values to load from.

GAZEBO_VISIBLE void gazebo::physics::load_worlds ( sdf::ElementPtr _sdf)

load multiple worlds from single sdf::Element pointer

Parameters

[in] _sdf SDF values used to create worlds.

GAZEBO_VISIBLE void gazebo::physics::pause_world	(	WorldPtr	_world,
		bool	_pause
	)

Pause world by calling World::SetPaused.

Parameters

[in]	_world	World to pause or unpause.
[in]	_pause	True to pause, False to unpause.

GAZEBO_VISIBLE void gazebo::physics::pause_worlds ( bool pause)

pause multiple worlds stored in static variable gazebo::g_worlds

Parameters

[in] _pause True to pause, False to unpause.

GAZEBO_VISIBLE void gazebo::physics::remove_worlds ( )

remove multiple worlds stored in static variable gazebo::g_worlds

GAZEBO_VISIBLE void gazebo::physics::run_world	(	WorldPtr	_world,
		unsigned int	_iterations = `0`
	)

Run world by calling World::Run() given a pointer to it.

Parameters

[in]	_world	World to run.
[in]	_iterations	Number of iterations for each world to take. Zero indicates that each world should continue forever.

GAZEBO_VISIBLE void gazebo::physics::run_worlds ( unsigned int _iterations = 0)

Run multiple worlds stored in static variable gazebo::g_worlds.

Parameters

[in] _iterations Number of iterations for each world to take. Zero indicates that each world should continue forever.

GAZEBO_VISIBLE void gazebo::physics::stop_world ( WorldPtr _world)

Stop world by calling World::Stop() given a pointer to it.

Parameters

[in] _world World to stop.

GAZEBO_VISIBLE void gazebo::physics::stop_worlds ( )

stop multiple worlds stored in static variable gazebo::g_worlds

GAZEBO_VISIBLE bool gazebo::physics::worlds_running ( )

Return true if any world is running.

Returns: True if any world is running.

Variable Documentation

std::string gazebo::physics::EntityTypename[]

static

Initial value:

= {
      "common",
      "entity",
      "model",
      "actor",
      "link",
      "collision",
      "light",
      "visual",
      "joint",
      "ball",
      "hinge2",
      "hinge",
      "slider",
      "universal",
      "shape",
      "box",
      "cylinder",
      "heightmap",
      "map",
      "multiray",
      "ray",
      "plane",
      "sphere",
      "trimesh"
    }

String names for the different entity types.

Modules

Files

Namespaces

Classes

Macros

Typedefs

Functions

Variables

Detailed Description

Macro Definition Documentation

Typedef Documentation

Function Documentation

Variable Documentation