Base class for most physics classes. More...

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::Base:

Collaboration diagram for gazebo::physics::Base:

Public Types
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, POLYLINE_SHAPE = 0x04000000, SENSOR_COLLISION = 0x10000000 }
	Unique identifiers for all entity types. More...

Public Member Functions
	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 (bool _prependWorldName=false) const
	Return the name of this entity with the model scope 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...

virtual void	Init ()
	Initialize the object. 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	Update ()
	Update the object. More...

virtual void	UpdateParameters (sdf::ElementPtr _sdf)
	Update the parameters using new sdf values. More...

Protected Member Functions
void	ComputeScopedName ()
	Compute the scoped name of this object based on its parents. More...

Protected Attributes
Base_V	children
	Children of this entity. More...

BasePtr	parent
	Parent of this entity. More...

sdf::ElementPtr	sdf
	The SDF values for this object. More...

WorldPtr	world
	Pointer to the world. More...

Detailed Description

Base class for most physics classes.

Member Enumeration Documentation

enum gazebo::physics::Base::EntityType

Unique identifiers for all entity types.

Enumerator
BASE	Base type.
ENTITY	Entity type.
MODEL	Model type.
LINK	Link type.
COLLISION	Collision type.
ACTOR	Actor type.
LIGHT	Light type.
VISUAL	Visual type.
JOINT	Joint type.
BALL_JOINT	BallJoint type.
HINGE2_JOINT	Hing2Joint type.
HINGE_JOINT	HingeJoint type.
SLIDER_JOINT	SliderJoint type.
SCREW_JOINT	ScrewJoint type.
UNIVERSAL_JOINT	UniversalJoint type.
GEARBOX_JOINT	GearboxJoint type.
SHAPE	Shape type.
BOX_SHAPE	BoxShape type.
CYLINDER_SHAPE	CylinderShape type.
HEIGHTMAP_SHAPE	HeightmapShape type.
MAP_SHAPE	MapShape type.
MULTIRAY_SHAPE	MultiRayShape type.
RAY_SHAPE	RayShape type.
PLANE_SHAPE	PlaneShape type.
SPHERE_SHAPE	SphereShape type.
MESH_SHAPE	MeshShape type.
POLYLINE_SHAPE	PolylineShape type.
SENSOR_COLLISION	Indicates a collision shape used for sensing.

Constructor & Destructor Documentation

gazebo::physics::Base::Base ( BasePtr _parent )

explicit

Constructor.

Parameters

[in] _parent Parent of this object

virtual gazebo::physics::Base::~Base ( )

virtual

Destructor.

Member Function Documentation

void gazebo::physics::Base::AddChild ( BasePtr _child )

Add a child to this entity.

Parameters

[in] _child Child entity.

void gazebo::physics::Base::AddType ( EntityType _type )

Add a type specifier.

Parameters

[in] _type New type to append to this objects type definition.

void gazebo::physics::Base::ComputeScopedName ( )

protected

Compute the scoped name of this object based on its parents.

See Also: Base::GetScopedName

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

virtual

Finialize the object.

Reimplemented in gazebo::physics::Joint, gazebo::physics::Actor, gazebo::physics::Link, gazebo::physics::Model, gazebo::physics::Entity, gazebo::physics::BulletLink, gazebo::physics::DARTModel, gazebo::physics::Collision, gazebo::physics::DARTLink, gazebo::physics::SimbodyLink, gazebo::physics::ODECollision, gazebo::physics::DARTCollision, and gazebo::physics::ODELink.

BasePtr gazebo::physics::Base::GetByName ( const std::string & _name )

Get by name.

Parameters

[in] _name Get a child (or self) object by name

Returns: A pointer to the object, NULL if not found

BasePtr gazebo::physics::Base::GetChild ( unsigned int _i ) const

Get a child by index.

Parameters

[in] _i Index of the child to retreive.

Returns: A pointer to the object, NULL if the index is invalid.

BasePtr gazebo::physics::Base::GetChild ( const std::string & _name )

Get a child by name.

Parameters

[in] _name Name of the child.

Returns: A pointer to the object, NULL if not found

unsigned int gazebo::physics::Base::GetChildCount ( ) const

Get the number of children.

Returns: The number of children.

uint32_t gazebo::physics::Base::GetId ( ) const

Return the ID of this entity.

This id is unique.

Returns: Integer ID.

std::string gazebo::physics::Base::GetName ( ) const

Return the name of the entity.

Returns: Name of the entity.

BasePtr gazebo::physics::Base::GetParent ( ) const

Get the parent.

Returns: Pointer to the parent entity.

int gazebo::physics::Base::GetParentId ( ) const

Return the ID of the parent.

Returns: Integer ID.

bool gazebo::physics::Base::GetSaveable ( ) const

Get whether the object should be "saved", when the user selects to save the world to xml.

Returns: True if the object is saveable.

std::string gazebo::physics::Base::GetScopedName ( bool _prependWorldName = false ) const

Return the name of this entity with the model scope model1::...::modelN::entityName.

Parameters

[in] _prependWorldName True to prended the returned string with the world name. The result will be world::model1::...::modelN::entityName.

Returns: The scoped name.

virtual const sdf::ElementPtr gazebo::physics::Base::GetSDF ( )

virtual

Get the SDF values for the object.

Returns: The SDF values for the object.

Reimplemented in gazebo::physics::Actor, and gazebo::physics::Model.

unsigned int gazebo::physics::Base::GetType ( ) const

Get the full type definition.

Returns: The full type definition.

const WorldPtr& gazebo::physics::Base::GetWorld ( ) const

Get the World this object is in.

Returns: The World this object is part of.

bool gazebo::physics::Base::HasType ( const EntityType & _t ) const

Returns true if this object's type definition has the given type.

Parameters

[in] _t Type to check.

Returns: True if this object's type definition has the.

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

inlinevirtual

Initialize the object.

bool gazebo::physics::Base::IsSelected ( ) const

True if the entity is selected by the user.

Returns: True if the entity is selected.

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

virtual

Load.

Parameters

[in] node Pointer to an SDF parameters

bool gazebo::physics::Base::operator== ( const Base & _ent ) const

Returns true if the entities are the same.

Checks only the name.

Parameters

[in] _ent Base object to compare with.

Returns: True if the entities are the same.

void gazebo::physics::Base::Print ( const std::string & _prefix )

Print this object to screen via gzmsg.

Parameters

[in] _prefix Usually a set of spaces.

virtual void gazebo::physics::Base::RemoveChild ( unsigned int _id )

virtual

Remove a child from this entity.

Parameters

[in] _id ID of the child to remove.

void gazebo::physics::Base::RemoveChild ( const std::string & _name )

Remove a child by name.

Parameters

[in] _name Name of the child.

void gazebo::physics::Base::RemoveChildren ( )

Remove all children.

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

virtual

Reset the object.

Reimplemented in gazebo::physics::Joint, gazebo::physics::Model, gazebo::physics::Link, gazebo::physics::Entity, gazebo::physics::ODEJoint, gazebo::physics::BulletJoint, gazebo::physics::DARTJoint, and gazebo::physics::SimbodyJoint.

virtual void gazebo::physics::Base::Reset ( Base::EntityType _resetType )

virtual

Calls recursive Reset on one of the Base::EntityType's.

Parameters

[in] _resetType The type of reset operation

virtual void gazebo::physics::Base::SetName ( const std::string & _name )

virtual

Set the name of the entity.

Parameters

[in] _name New name.

Reimplemented in gazebo::physics::Entity.

void gazebo::physics::Base::SetParent ( BasePtr _parent )

Set the parent.

Parameters

[in] _parent Parent object.

void gazebo::physics::Base::SetSaveable ( bool _v )

Set whether the object should be "saved", when the user selects to save the world to xml.

Parameters

[in] _v Set to True if the object should be saved.

virtual bool gazebo::physics::Base::SetSelected ( bool _show )

virtual

Set whether this entity has been selected by the user through the gui.

Parameters

[in] _show True to set this entity as selected.

Reimplemented in gazebo::physics::Link.

void gazebo::physics::Base::SetWorld ( const WorldPtr & _newWorld )

Set the world this object belongs to.

This will also set the world for all children.

Parameters

[in] _newWorld The new World this object is part of.

virtual void gazebo::physics::Base::Update ( )

inlinevirtual

Update the object.

Reimplemented in gazebo::physics::MultiRayShape, gazebo::physics::Joint, gazebo::physics::Actor, gazebo::physics::RayShape, gazebo::physics::Model, gazebo::physics::MapShape, gazebo::physics::DARTModel, gazebo::physics::DARTRayShape, gazebo::physics::MeshShape, gazebo::physics::BulletRayShape, gazebo::physics::ODERayShape, gazebo::physics::SimbodyRayShape, gazebo::physics::DARTMeshShape, gazebo::physics::ODEMeshShape, and gazebo::physics::ODEPolylineShape.

virtual void gazebo::physics::Base::UpdateParameters ( sdf::ElementPtr _sdf )

virtual

Update the parameters using new sdf values.

Parameters

[in] _sdf Update the object's parameters based on SDF values.

Reimplemented in gazebo::physics::Joint, gazebo::physics::Actor, gazebo::physics::Link, gazebo::physics::Model, gazebo::physics::Entity, and gazebo::physics::Collision.

Member Data Documentation

Base_V gazebo::physics::Base::children

protected

Children of this entity.

BasePtr gazebo::physics::Base::parent

protected

Parent of this entity.

sdf::ElementPtr gazebo::physics::Base::sdf

protected

The SDF values for this object.

WorldPtr gazebo::physics::Base::world

protected

Pointer to the world.

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

Base.hh

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation