gazebo::physics::JointState Class Reference

keeps track of state of a physics::Joint More...

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::JointState:

Collaboration diagram for gazebo::physics::JointState:

Public Member Functions
	JointState ()
	Default constructor. More...
	JointState (JointPtr _joint, const common::Time &_realTime, const common::Time &_simTime)
	Constructor. More...
	JointState (JointPtr _joint)
	Constructor. More...
	JointState (const sdf::ElementPtr _sdf)
	Constructor. More...
virtual	~JointState ()
	Destructor. More...
void	FillSDF (sdf::ElementPtr _sdf)
	Populate a state SDF element with data from the object. More...
math::Angle	GetAngle (unsigned int _axis) const
	Get the joint angle. More...
unsigned int	GetAngleCount () const
	Get the number of angles. More...
const std::vector< math::Angle > &	GetAngles () const
	Get the angles. More...
bool	IsZero () const
	Return true if the values in the state are zero. More...
void	Load (JointPtr _joint, const common::Time &_realTime, const common::Time &_simTime)
	Load. More...
virtual void	Load (const sdf::ElementPtr _elem)
	Load state from SDF element. More...
JointState	operator+ (const JointState &_state) const
	Addition operator. More...
JointState	operator- (const JointState &_state) const
	Subtraction operator. More...
JointState &	operator= (const JointState &_state)
	Assignment operator. More...
Public Member Functions inherited from gazebo::physics::State
	State ()
	Default constructor. More...
	State (const std::string &_name, const common::Time &_realTime, const common::Time &_simTime)
	Constructor. More...
virtual	~State ()
	Destructor. More...
std::string	GetName () const
	Get the name associated with this State. More...
common::Time	GetRealTime () const
	Get the real time when this state was generated. More...
common::Time	GetSimTime () const
	Get the sim time when this state was generated. More...
common::Time	GetWallTime () const
	Get the wall time when this state was generated. More...
State	operator- (const State &_state) const
	Subtraction operator. More...
State &	operator= (const State &_state)
	Assignment operator. More...
void	SetName (const std::string &_name)
	Set the name associated with this State. More...
virtual void	SetRealTime (const common::Time &_time)
	Set the real time when this state was generated. More...
virtual void	SetSimTime (const common::Time &_time)
	Set the sim time when this state was generated. More...
virtual void	SetWallTime (const common::Time &_time)
	Set the wall time when this state was generated. More...

Friends
std::ostream &	operator<< (std::ostream &_out, const gazebo::physics::JointState &_state)
	Stream insertion operator. More...

Additional Inherited Members
Protected Attributes inherited from gazebo::physics::State
std::string	name
	Name associated with this State. More...
common::Time	realTime
common::Time	simTime
common::Time	wallTime
	Times for the state data. More...

Detailed Description

keeps track of state of a physics::Joint

Constructor & Destructor Documentation

gazebo::physics::JointState::JointState

(

)

Default constructor.

gazebo::physics::JointState::JointState	(	JointPtr	_joint,
		const common::Time &	_realTime,
		const common::Time &	_simTime
	)

Constructor.

Parameters

[in]	_joint	Joint to get the state of.
[in]	_realTime	Real time stamp.
[in]	_simTime	Sim time stamp.

gazebo::physics::JointState::JointState ( JointPtr  _joint )

explicit

Constructor.

Parameters

[in]

_joint

Joint to get the state of.

gazebo::physics::JointState::JointState ( const sdf::ElementPtr  _sdf )

explicit

Constructor.

Build a JointState from SDF data

Parameters

[in]

_sdf

SDF data to load a joint state from.

virtual gazebo::physics::JointState::~JointState ( )

virtual

Destructor.

Member Function Documentation

void gazebo::physics::JointState::FillSDF

(

sdf::ElementPtr

_sdf

)

Populate a state SDF element with data from the object.

Parameters

[out]

_sdf

SDF element to populate.

math::Angle gazebo::physics::JointState::GetAngle

(

unsigned int

_axis

)

const

Get the joint angle.

Parameters

[in]

_axis

The axis index.

Returns

Angle of the axis.

Exceptions

common::Exception

When _axis is invalid.

unsigned int gazebo::physics::JointState::GetAngleCount

(

)

const

Get the number of angles.

Returns

The number of angles.

const std::vector<math::Angle>& gazebo::physics::JointState::GetAngles

(

)

const

Get the angles.

Returns

Vector of angles.

bool gazebo::physics::JointState::IsZero

(

)

const

Return true if the values in the state are zero.

Returns

True if the values in the state are zero.

void gazebo::physics::JointState::Load	(	JointPtr	_joint,
		const common::Time &	_realTime,
		const common::Time &	_simTime
	)

Load.

Parameters

[in]	_joint	Joint to get the state of.
[in]	_realTime	Real time stamp.
[in]	_simTime	Sim time stamp.

virtual void gazebo::physics::JointState::Load ( const sdf::ElementPtr  _elem )

virtual

Load state from SDF element.

Parameters

[in]

_elem

SDf values to load from.

Reimplemented from gazebo::physics::State.

JointState gazebo::physics::JointState::operator+

(

const JointState &

_state

)

const

Addition operator.

Parameters

[in]

_pt

A state to add.

Returns

The resulting state.

JointState gazebo::physics::JointState::operator-

(

const JointState &

_state

)

const

Subtraction operator.

Parameters

[in]

_pt

A state to substract.

Returns

The resulting state.

JointState& gazebo::physics::JointState::operator=

(

const JointState &

_state

)

Assignment operator.

Parameters

[in]

_state

State value

Returns

this

Friends And Related Function Documentation

std::ostream& operator<< ( std::ostream &  _out, const gazebo::physics::JointState &  _state  )

friend

Stream insertion operator.

Parameters

[in]	_out	output stream.
[in]	_state	Joint state to output.

Returns

The stream.

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

• JointState.hh