gazebo::physics::ContactManager Class Reference

Aggregates all the contact information generated by the collision detection engine. More...

#include <physics/physics.hh>

Public Member Functions
	ContactManager ()
	Constructor. More...
virtual	~ContactManager ()
	Destructor. More...
void	Clear ()
	Clear all stored contacts. More...
std::string	CreateFilter (const std::string &_topic, const std::vector< std::string > &_collisions)
	Create a filter for contacts. More...
std::string	CreateFilter (const std::string &_topic, const std::string &_collision)
	Create a filter for contacts. More...
std::string	CreateFilter (const std::string &_name, const std::map< std::string, physics::CollisionPtr > &_collisions)
	Create a filter for contacts. More...
Contact *	GetContact (unsigned int _index) const
	Get a single contact by index. More...
unsigned int	GetContactCount () const
	Return the number of valid contacts. More...
const std::vector< Contact * > &	GetContacts () const
	Get all the contacts. More...
unsigned int	GetFilterCount ()
	Get the number of filters in the contact manager. More...
bool	HasFilter (const std::string &_name)
	Check if a filter with the specified name exists. More...
void	Init (WorldPtr _world)
	Initialize the ContactManager. More...
Contact *	NewContact (Collision *_collision1, Collision *_collision2, const common::Time &_time)
	Add a new contact. More...
void	PublishContacts ()
	Publish all contacts in a msgs::Contacts message. More...
void	RemoveFilter (const std::string &_name)
	Remove a contacts filter and the associated custom publisher param[in] _name Filter name. More...
void	ResetCount ()
	Set the contact count to zero. More...

Detailed Description

Aggregates all the contact information generated by the collision detection engine.

Constructor & Destructor Documentation

gazebo::physics::ContactManager::ContactManager

(

)

Constructor.

virtual gazebo::physics::ContactManager::~ContactManager ( )

virtual

Destructor.

Member Function Documentation

void gazebo::physics::ContactManager::Clear

(

)

Clear all stored contacts.

std::string gazebo::physics::ContactManager::CreateFilter	(	const std::string &	_topic,
		const std::vector< std::string > &	_collisions
	)

Create a filter for contacts.

A new publisher will be created that publishes contacts associated to the input collisions. param[in] _name Filter name. param[in] _collisions A list of collision names used for filtering.

Returns

New topic where filtered messages will be published to.

std::string gazebo::physics::ContactManager::CreateFilter	(	const std::string &	_topic,
		const std::string &	_collision
	)

Create a filter for contacts.

A new publisher will be created that publishes contacts associated to the input collision. param[in] _name Filter name. param[in] _collision A collision name used for filtering.

Returns

New topic where filtered messages will be published to.

std::string gazebo::physics::ContactManager::CreateFilter	(	const std::string &	_name,
		const std::map< std::string, physics::CollisionPtr > &	_collisions
	)

Create a filter for contacts.

A new publisher will be created that publishes contacts associated to the input collision. param[in] _name Filter name. param[in] _collisions A map of collision name to collision object.

Returns

New topic where filtered messages will be published to.

Contact* gazebo::physics::ContactManager::GetContact

(

unsigned int

_index

)

const

Get a single contact by index.

The index must be between 0 and ContactManager::GetContactCount.

Parameters

[in]

_index

Index of the Contact to return.

Returns

Pointer to a contact, NULL If index is invalid.

unsigned int gazebo::physics::ContactManager::GetContactCount

(

)

const

Return the number of valid contacts.

const std::vector<Contact *>& gazebo::physics::ContactManager::GetContacts

(

)

const

Get all the contacts.

The return vector may have invalid contacts. Only use contents of the vector between 0 and ContactManager::GetContactCount

Returns

Vector of contact pointers.

unsigned int gazebo::physics::ContactManager::GetFilterCount

(

)

Get the number of filters in the contact manager.

return Number of filters

bool gazebo::physics::ContactManager::HasFilter

(

const std::string &

_name

)

Check if a filter with the specified name exists.

param[in] _name Name of filter. return True if the filter exists.

void gazebo::physics::ContactManager::Init

(

WorldPtr

_world

)

Initialize the ContactManager.

This is required in order to publish contact messages via the ContactManager::PublishContacts method.

Parameters

[in]

_world

Pointer to the world that is initializing the contact manager.

Contact* gazebo::physics::ContactManager::NewContact	(	Collision *	_collision1,
		Collision *	_collision2,
		const common::Time &	_time
	)

Add a new contact.

Noramlly this is only used by a Physics/Collision engine when a new contact is generated. All other users should just make use of the accessor functions.

If no one is listening, then the return value will be NULL. This is a signal to the Physics engine that it can skip the extra processing necessary to get back contact information.

Returns

The new contact. The physics engine should populate the contact's parameters. NULL will be returned if there are no subscribers to the contact topic.

void gazebo::physics::ContactManager::PublishContacts

(

)

Publish all contacts in a msgs::Contacts message.

void gazebo::physics::ContactManager::RemoveFilter

(

const std::string &

_name

)

Remove a contacts filter and the associated custom publisher param[in] _name Filter name.

void gazebo::physics::ContactManager::ResetCount

(

)

Set the contact count to zero.

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

• ContactManager.hh