gazebo::physics::ODECollision Class Reference

Base class for all ODE collisions. More...

#include <ODECollision.hh>

Inheritance diagram for gazebo::physics::ODECollision:

Collaboration diagram for gazebo::physics::ODECollision:

Public Member Functions
	ODECollision (LinkPtr _parent)
	Constructor. More...
virtual	~ODECollision ()
	Destructor. More...
virtual void	Fini ()
	Finalize the collision. More...
virtual math::Box	GetBoundingBox () const
	Get the bounding box for this collision. More...
int	GetCollisionClass () const
	Get the ODE collision class. More...
dGeomID	GetCollisionId () const
	Return the collision id. More...
ODESurfaceParamsPtr	GetODESurface () const
	Similar to Collision::GetSurface, but provides dynamically casted pointer to ODESurfaceParams. More...
dSpaceID	GetSpaceId () const
	Get the collision's space ID. More...
virtual void	Load (sdf::ElementPtr _sdf)
	Load the collision. More...
virtual void	OnPoseChange ()
	This function is called when the entity's (or one of its parents) pose of the parent has changed. More...
virtual void	SetCategoryBits (unsigned int bits)
	Set the category bits, used during collision detection. More...
virtual void	SetCollideBits (unsigned int bits)
	Set the collide bits, used during collision detection. More...
void	SetCollision (dGeomID _collisionId, bool _placeable)
	Set the encapsulated collsion object. More...
void	SetSpaceId (dSpaceID _spaceid)
	Set the collision's space ID. More...
Public Member Functions inherited from gazebo::physics::Collision
	Collision (LinkPtr _link)
	Constructor. More...
virtual	~Collision ()
	Destructor. More...
void	FillMsg (msgs::Collision &_msg)
	Fill a collision message. More...
float	GetLaserRetro () const
	Get the laser retro reflectiveness. More...
LinkPtr	GetLink () const
	Get the link this collision belongs to. More...
virtual unsigned int	GetMaxContacts ()
	returns number of contacts allowed for this collision. More...
ModelPtr	GetModel () const
	Get the model this collision belongs to. More...
virtual math::Vector3	GetRelativeAngularAccel () const
	Get the angular acceleration of the collision. More...
virtual math::Vector3	GetRelativeAngularVel () const
	Get the angular velocity of the collision. More...
virtual math::Vector3	GetRelativeLinearAccel () const
	Get the linear acceleration of the collision. More...
virtual math::Vector3	GetRelativeLinearVel () const
	Get the linear velocity of the collision. More...
ShapePtr	GetShape () const
	Get the collision shape. More...
unsigned int	GetShapeType ()
	Get the shape type. More...
CollisionState	GetState ()
	Get the collision state. More...
SurfaceParamsPtr	GetSurface () const
	Get the surface parameters. More...
virtual math::Vector3	GetWorldAngularAccel () const
	Get the angular acceleration of the collision in the world frame. More...
virtual math::Vector3	GetWorldAngularVel () const
	Get the angular velocity of the collision in the world frame. More...
virtual math::Vector3	GetWorldLinearAccel () const
	Get the linear acceleration of the collision in the world frame. More...
virtual math::Vector3	GetWorldLinearVel () const
	Get the linear velocity of the collision in the world frame. More...
virtual const math::Pose &	GetWorldPose () const
	Get the absolute pose of the entity. More...
virtual void	Init ()
	Initialize the collision. More...
bool	IsPlaceable () const
	Return whether this collision is movable. More...
void	ProcessMsg (const msgs::Collision &_msg)
	Update parameters from a message. More...
void	SetCollision (bool _placeable)
	Set the encapsulated collsion object. More...
void	SetLaserRetro (float _retro)
	Set the laser retro reflectiveness. More...
virtual void	SetMaxContacts (unsigned int _maxContacts)
	Number of contacts allowed for this collision. More...
void	SetScale (const math::Vector3 &_scale)
	Set the scale of the collision. More...
void	SetShape (ShapePtr _shape)
	Set the shape for this collision. More...
void	SetState (const CollisionState &_state)
	Set the current collision state. More...
void	SetWorldPoseDirty ()
	Indicate that the world pose should be recalculated. More...
virtual void	UpdateParameters (sdf::ElementPtr _sdf)
	Update the parameters using new sdf values. More...
Public Member Functions inherited from gazebo::physics::Entity
	Entity (BasePtr _parent)
	Constructor. More...
virtual	~Entity ()
	Destructor. More...
CollisionPtr	GetChildCollision (const std::string &_name)
	Get a child collision entity, if one exists. More...
LinkPtr	GetChildLink (const std::string &_name)
	Get a child linke entity, if one exists. More...
math::Box	GetCollisionBoundingBox () const
	Returns collision bounding box. More...
const math::Pose &	GetDirtyPose () const
	Returns Entity::dirtyPose. More...
math::Pose	GetInitialRelativePose () const
	Get the initial relative pose. More...
void	GetNearestEntityBelow (double &_distBelow, std::string &_entityName)
	Get the distance to the nearest entity below (along the Z-axis) this entity. More...
ModelPtr	GetParentModel ()
	Get the parent model, if one exists. More...
math::Pose	GetRelativePose () const
	Get the pose of the entity relative to its parent. More...
bool	IsCanonicalLink () const
	A helper function that checks if this is a canonical body. More...
bool	IsStatic () const
	Return whether this entity is static. More...
void	PlaceOnEntity (const std::string &_entityName)
	Move this entity to be ontop of another entity by name. More...
void	PlaceOnNearestEntityBelow ()
	Move this entity to be ontop of the nearest entity below. More...
virtual void	Reset ()
	Reset the entity. More...
void	SetAnimation (const common::PoseAnimationPtr &_anim, boost::function< void()> _onComplete)
	Set an animation for this entity. More...
void	SetAnimation (common::PoseAnimationPtr _anim)
	Set an animation for this entity. More...
void	SetCanonicalLink (bool _value)
	Set to true if this entity is a canonical link for a model. More...
void	SetInitialRelativePose (const math::Pose &_pose)
	Set the initial pose. More...
virtual void	SetName (const std::string &_name)
	Set the name of the entity. More...
void	SetRelativePose (const math::Pose &_pose, bool _notify=true, bool _publish=true)
	Set the pose of the entity relative to its parent. More...
void	SetStatic (const bool &_static)
	Set whether this entity is static: immovable. More...
void	SetWorldPose (const math::Pose &_pose, bool _notify=true, bool _publish=true)
	Set the world pose of the entity. More...
void	SetWorldTwist (const math::Vector3 &_linear, const math::Vector3 &_angular, bool _updateChildren=true)
	Set angular and linear rates of an physics::Entity. More...
virtual void	StopAnimation ()
	Stop the current animation, if any. 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...
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...
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 (Base::EntityType _resetType)
	Calls recursive Reset on one of the Base::EntityType's. 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...

Protected Attributes
dGeomID	collisionId
	ID for the collision. More...
dSpaceID	spaceId
	Collision space for this. More...
Protected Attributes inherited from gazebo::physics::Collision
LinkPtr	link
	The link this collision belongs to. More...
bool	placeable
	Flag for placeable. More...
ShapePtr	shape
	Pointer to physics::Shape. More...
SurfaceParamsPtr	surface
	The surface parameters. More...
Protected Attributes inherited from gazebo::physics::Entity
common::PoseAnimationPtr	animation
	Current pose animation. More...
event::ConnectionPtr	animationConnection
	Connection used to update an animation. More...
math::Pose	animationStartPose
	Start pose of an animation. More...
std::vector< event::ConnectionPtr >	connections
	All our event connections. More...
math::Pose	dirtyPose
	The pose set by a physics engine. More...
transport::NodePtr	node
	Communication node. More...
EntityPtr	parentEntity
	A helper that prevents numerous dynamic_casts. More...
common::Time	prevAnimationTime
	Previous time an animation was updated. More...
transport::PublisherPtr	requestPub
	Request publisher. More...
math::Vector3	scale
	Scale of the entity. More...
transport::PublisherPtr	visPub
	Visual publisher. More...
msgs::Visual *	visualMsg
	Visual message container. More...
math::Pose	worldPose
	World pose of the entity. 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...
Protected Member Functions inherited from gazebo::physics::Base
void	ComputeScopedName ()
	Compute the scoped name of this object based on its parents. More...

Detailed Description

Base class for all ODE collisions.

Constructor & Destructor Documentation

gazebo::physics::ODECollision::ODECollision ( LinkPtr  _parent )

explicit

Constructor.

Parameters

[in]

_link

Parent Link

virtual gazebo::physics::ODECollision::~ODECollision ( )

virtual

Destructor.

Member Function Documentation

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

virtual

Finalize the collision.

Reimplemented from gazebo::physics::Collision.

virtual math::Box gazebo::physics::ODECollision::GetBoundingBox ( ) const

virtual

Get the bounding box for this collision.

Returns

The bounding box.

Implements gazebo::physics::Collision.

int gazebo::physics::ODECollision::GetCollisionClass

(

)

const

Get the ODE collision class.

Returns

The ODE collision class.

dGeomID gazebo::physics::ODECollision::GetCollisionId

(

)

const

Return the collision id.

Returns

The collision id.

ODESurfaceParamsPtr gazebo::physics::ODECollision::GetODESurface

(

)

const

Similar to Collision::GetSurface, but provides dynamically casted pointer to ODESurfaceParams.

Returns

Dynamically casted pointer to ODESurfaceParams.

dSpaceID gazebo::physics::ODECollision::GetSpaceId

(

)

const

Get the collision's space ID.

Returns

The collision's space ID

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

virtual

Load the collision.

Parameters

[in]

_sdf

SDF to load from.

Reimplemented from gazebo::physics::Collision.

virtual void gazebo::physics::ODECollision::OnPoseChange ( )

virtual

This function is called when the entity's (or one of its parents) pose of the parent has changed.

Implements gazebo::physics::Entity.

virtual void gazebo::physics::ODECollision::SetCategoryBits ( unsigned int  _bits )

virtual

Set the category bits, used during collision detection.

Parameters

[in]

_bits

The bits to set.

Implements gazebo::physics::Collision.

virtual void gazebo::physics::ODECollision::SetCollideBits ( unsigned int  _bits )

virtual

Set the collide bits, used during collision detection.

Parameters

[in]

_bits

The bits to set.

Implements gazebo::physics::Collision.

void gazebo::physics::ODECollision::SetCollision	(	dGeomID	_collisionId,
		bool	_placeable
	)

Set the encapsulated collsion object.

Parameters

[in]	_collisionId	ODE id of the collision object.
[in]	_placeable	True to make the object movable.

Referenced by gazebo::physics::ODESphereShape::SetRadius(), gazebo::physics::ODECylinderShape::SetSize(), and gazebo::physics::ODEBoxShape::SetSize().

void gazebo::physics::ODECollision::SetSpaceId

(

dSpaceID

_spaceid

)

Set the collision's space ID.

Parameters

[in]

_spaceid

ID of an ODE collision space.

Member Data Documentation

dGeomID gazebo::physics::ODECollision::collisionId

protected

ID for the collision.

dSpaceID gazebo::physics::ODECollision::spaceId

protected

Collision space for this.

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

• ODECollision.hh