gazebo::physics::MultiRayShape Class Reference

Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner. More...

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::MultiRayShape:

Collaboration diagram for gazebo::physics::MultiRayShape:

Public Member Functions
	MultiRayShape (CollisionPtr _parent)
	Constructor. More...
virtual	~MultiRayShape ()
	Destructor. More...
template<typename T >
event::ConnectionPtr	ConnectNewLaserScans (T _subscriber)
	Connect a to the new laser scan signal. More...
void	DisconnectNewLaserScans (event::ConnectionPtr &_conn)
	Disconnect from the new laser scans signal. More...
void	FillMsg (msgs::Geometry &_msg)
	This function is not implemented. More...
int	GetFiducial (unsigned int _index)
	Get detected fiducial value for a ray. More...
math::Angle	GetMaxAngle () const
	Get the maximum angle. More...
double	GetMaxRange () const
	Get the maximum range. More...
math::Angle	GetMinAngle () const
	Get the minimum angle. More...
double	GetMinRange () const
	Get the minimum range. More...
double	GetRange (unsigned int _index)
	Get detected range for a ray. More...
double	GetResRange () const
	Get the range resolution. More...
double	GetRetro (unsigned int _index)
	Get detected retro (intensity) value for a ray. More...
int	GetSampleCount () const
	Get the horizontal sample count. More...
double	GetScanResolution () const
	Get the horizontal resolution. More...
math::Angle	GetVerticalMaxAngle () const
	Get the vertical max angle. More...
math::Angle	GetVerticalMinAngle () const
	Get the vertical min angle. More...
int	GetVerticalSampleCount () const
	Get the vertical sample count. More...
double	GetVerticalScanResolution () const
	Get the vertical range resolution. More...
virtual void	Init ()
	Init the shape. More...
virtual void	ProcessMsg (const msgs::Geometry &_msg)
	This function is not implemented. More...
virtual void	SetScale (const math::Vector3 &_scale)
	Set the scale of the multi ray shape. More...
void	Update ()
	Update the ray collisions. More...
Public Member Functions inherited from gazebo::physics::Shape
	Shape (CollisionPtr _parent)
	Constructor. More...
virtual	~Shape ()
	Destructor. More...
virtual math::Vector3	GetScale () const
	Get the scale of the shape. More...
Public Member Functions inherited from gazebo::physics::Base
	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...
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	UpdateParameters (sdf::ElementPtr _sdf)
	Update the parameters using new sdf values. More...

Protected Member Functions
virtual void	AddRay (const math::Vector3 &_start, const math::Vector3 &_end)
	Add a ray to the collision. More...
virtual void	UpdateRays ()=0
	Physics engine specific method for updating the rays. More...
Protected Member Functions inherited from gazebo::physics::Base
void	ComputeScopedName ()
	Compute the scoped name of this object based on its parents. More...

Protected Attributes
sdf::ElementPtr	horzElem
	Horizontal SDF element pointer. More...
event::EventT< void()>	newLaserScans
	New laser scans event. More...
math::Pose	offset
	Pose offset of all the rays. More...
sdf::ElementPtr	rangeElem
	Range SDF element pointer. More...
sdf::ElementPtr	rayElem
	Ray SDF element pointer. More...
std::vector< RayShapePtr >	rays
	Ray data. More...
sdf::ElementPtr	scanElem
	Scan SDF element pointer. More...
sdf::ElementPtr	vertElem
	Vertical SDF element pointer. More...
Protected Attributes inherited from gazebo::physics::Shape
CollisionPtr	collisionParent
	This shape's collision parent. More...
math::Vector3	scale
	This shape's scale;. More...
Protected Attributes inherited from gazebo::physics::Base
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...

Additional Inherited Members
Public Types inherited from gazebo::physics::Base
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...

Detailed Description

Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner.

Constructor & Destructor Documentation

gazebo::physics::MultiRayShape::MultiRayShape ( CollisionPtr  _parent )

explicit

Constructor.

Parameters

[in]

_parent

Parent collision shape.

virtual gazebo::physics::MultiRayShape::~MultiRayShape ( )

virtual

Destructor.

Member Function Documentation

virtual void gazebo::physics::MultiRayShape::AddRay ( const math::Vector3 &  _start, const math::Vector3 &  _end  )

protectedvirtual

Add a ray to the collision.

Parameters

[in]	_start	Start of the ray.
[in]	_end	End of the ray.

Reimplemented in gazebo::physics::ODEMultiRayShape, gazebo::physics::DARTMultiRayShape, gazebo::physics::SimbodyMultiRayShape, and gazebo::physics::BulletMultiRayShape.

template<typename T >

event::ConnectionPtr gazebo::physics::MultiRayShape::ConnectNewLaserScans ( T  _subscriber )

inline

Connect a to the new laser scan signal.

Parameters

[in]

_subscriber

Callback function.

Returns

The connection, which must be kept in scope.

void gazebo::physics::MultiRayShape::DisconnectNewLaserScans ( event::ConnectionPtr &  _conn )

inline

Disconnect from the new laser scans signal.

Parameters

[in]

_conn

Connection to remove.

void gazebo::physics::MultiRayShape::FillMsg ( msgs::Geometry &  _msg )

virtual

This function is not implemented.

Fill a message with this shape's values.

Parameters

[out]

_msg

Message that contains the shape's values.

Implements gazebo::physics::Shape.

int gazebo::physics::MultiRayShape::GetFiducial

(

unsigned int

_index

)

Get detected fiducial value for a ray.

Parameters

[in]

_index

Index of the ray.

Returns

Fiducial value for the ray.

math::Angle gazebo::physics::MultiRayShape::GetMaxAngle

(

)

const

Get the maximum angle.

Returns

Maximum angle of ray scan.

double gazebo::physics::MultiRayShape::GetMaxRange

(

)

const

Get the maximum range.

Returns

Maximum range of all the rays.

math::Angle gazebo::physics::MultiRayShape::GetMinAngle

(

)

const

Get the minimum angle.

Returns

Minimum angle of ray scan.

double gazebo::physics::MultiRayShape::GetMinRange

(

)

const

Get the minimum range.

Returns

Minimum range of all the rays.

double gazebo::physics::MultiRayShape::GetRange

(

unsigned int

_index

)

Get detected range for a ray.

Parameters

[in]

_index

Index of the ray.

Returns

Returns DBL_MAX for no detection.

double gazebo::physics::MultiRayShape::GetResRange

(

)

const

Get the range resolution.

Returns

Range resolution of all the rays.

double gazebo::physics::MultiRayShape::GetRetro

(

unsigned int

_index

)

Get detected retro (intensity) value for a ray.

Parameters

[in]

_index

Index of the ray.

Returns

Retro value for the ray.

int gazebo::physics::MultiRayShape::GetSampleCount

(

)

const

Get the horizontal sample count.

Returns

Horizontal sample count.

double gazebo::physics::MultiRayShape::GetScanResolution

(

)

const

Get the horizontal resolution.

Returns

Horizontal resolution.

math::Angle gazebo::physics::MultiRayShape::GetVerticalMaxAngle

(

)

const

Get the vertical max angle.

Returns

Vertical max angle.

math::Angle gazebo::physics::MultiRayShape::GetVerticalMinAngle

(

)

const

Get the vertical min angle.

Returns

Vertical min angle.

int gazebo::physics::MultiRayShape::GetVerticalSampleCount

(

)

const

Get the vertical sample count.

Returns

Verical sample count.

double gazebo::physics::MultiRayShape::GetVerticalScanResolution

(

)

const

Get the vertical range resolution.

Returns

Vertical range resolution.

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

virtual

Init the shape.

Implements gazebo::physics::Shape.

virtual void gazebo::physics::MultiRayShape::ProcessMsg ( const msgs::Geometry &  _msg )

virtual

This function is not implemented.

Update the ray based on a message.

Parameters

[in]

_msg

Message to update from.

Implements gazebo::physics::Shape.

virtual void gazebo::physics::MultiRayShape::SetScale ( const math::Vector3 &  _scale )

virtual

Set the scale of the multi ray shape.

Returns

_scale Scale to set the multi ray shape to.

Implements gazebo::physics::Shape.

void gazebo::physics::MultiRayShape::Update ( )

virtual

Update the ray collisions.

Reimplemented from gazebo::physics::Base.

virtual void gazebo::physics::MultiRayShape::UpdateRays ( )

protectedpure virtual

Physics engine specific method for updating the rays.

Implemented in gazebo::physics::DARTMultiRayShape, gazebo::physics::SimbodyMultiRayShape, gazebo::physics::BulletMultiRayShape, and gazebo::physics::ODEMultiRayShape.

Member Data Documentation

sdf::ElementPtr gazebo::physics::MultiRayShape::horzElem

protected

Horizontal SDF element pointer.

event::EventT<void()> gazebo::physics::MultiRayShape::newLaserScans

protected

New laser scans event.

math::Pose gazebo::physics::MultiRayShape::offset

protected

Pose offset of all the rays.

sdf::ElementPtr gazebo::physics::MultiRayShape::rangeElem

protected

Range SDF element pointer.

sdf::ElementPtr gazebo::physics::MultiRayShape::rayElem

protected

Ray SDF element pointer.

std::vector<RayShapePtr> gazebo::physics::MultiRayShape::rays

protected

Ray data.

sdf::ElementPtr gazebo::physics::MultiRayShape::scanElem

protected

Scan SDF element pointer.

sdf::ElementPtr gazebo::physics::MultiRayShape::vertElem

protected

Vertical SDF element pointer.

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

• MultiRayShape.hh