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Classes for physics and dynamics
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]namePhysics type name, as it appears in the world file.
[in]classnameC++ 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]_nameName 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]_nameName 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]_worldWorld 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 ( )
GAZEBO_VISIBLE void gazebo::physics::load_world ( WorldPtr  _world,
sdf::ElementPtr  _sdf 
)

Load world from sdf::Element pointer.

Parameters
[in]_worldPointer to a world.
[in]_sdfSDF values to load from.
GAZEBO_VISIBLE void gazebo::physics::load_worlds ( sdf::ElementPtr  _sdf)

load multiple worlds from single sdf::Element pointer

Parameters
[in]_sdfSDF values used to create worlds.
GAZEBO_VISIBLE void gazebo::physics::pause_world ( WorldPtr  _world,
bool  _pause 
)

Pause world by calling World::SetPaused.

Parameters
[in]_worldWorld to pause or unpause.
[in]_pauseTrue 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]_pauseTrue 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]_worldWorld to run.
[in]_iterationsNumber 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]_iterationsNumber 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]_worldWorld 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.