The world provides access to all other object within a simulated environment. More...

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::World:

Collaboration diagram for gazebo::physics::World:

Public Member Functions
	World (const std::string &_name="")
	Constructor. More...

	~World ()
	Destructor. More...

void	Clear ()
	Remove all entities from the world. More...

void	ClearModels ()
	Remove all entities from the world. More...

void	DisableAllModels ()
	Disable all links in all the models. More...

void	EnableAllModels ()
	Enable all links in all the models. More...

void	EnablePhysicsEngine (bool _enable)
	enable/disable physics engine during World::Update. More...

void	Fini ()
	Finalize the world. More...

BasePtr	GetByName (const std::string &_name)
	Get an element by name. More...

bool	GetEnablePhysicsEngine ()
	check if physics engine is enabled/disabled. More...

EntityPtr	GetEntity (const std::string &_name)
	Get a pointer to an Entity based on a name. More...

EntityPtr	GetEntityBelowPoint (const math::Vector3 &_pt)
	Get the nearest entity below a point. More...

uint32_t	GetIterations () const
	Get the total number of iterations. More...

ModelPtr	GetModel (unsigned int _index) const
	Get a model based on an index. More...

ModelPtr	GetModel (const std::string &_name)
	Get a model by name. More...

ModelPtr	GetModelBelowPoint (const math::Vector3 &_pt)
	Get the nearest model below and not encapsulating a point. More...

unsigned int	GetModelCount () const
	Get the number of models. More...

Model_V	GetModels () const
	Get a list of all the models. More...

std::string	GetName () const
	Get the name of the world. More...

common::Time	GetPauseTime () const
	Get the amount of time simulation has been paused. More...

PhysicsEnginePtr	GetPhysicsEngine () const
	Return the physics engine. More...

common::Time	GetRealTime () const
	Get the real time (elapsed time). More...

bool	GetRunning () const
	Return the running state of the world. More...

msgs::Scene	GetSceneMsg () const
	Get the current scene in message form. More...

EntityPtr	GetSelectedEntity () const
	Get the selected Entity. More...

boost::mutex *	GetSetWorldPoseMutex () const
	Get the set world pose mutex. More...

common::Time	GetSimTime () const
	Get the world simulation time, note if you want the PC wall clock call common::Time::GetWallTime. More...

common::SphericalCoordinatesPtr	GetSphericalCoordinates () const
	Return the spherical coordinates converter. More...

common::Time	GetStartTime () const
	Get the wall time simulation was started. More...

void	Init ()
	Initialize the world. More...

void	InsertModelFile (const std::string &_sdfFilename)
	Insert a model from an SDF file. More...

void	InsertModelSDF (const sdf::SDF &_sdf)
	Insert a model using SDF. More...

void	InsertModelString (const std::string &_sdfString)
	Insert a model from an SDF string. More...

bool	IsLoaded () const
	Return true if the world has been loaded. More...

bool	IsPaused () const
	Returns the state of the simulation true if paused. More...

void	Load (sdf::ElementPtr _sdf)
	Load the world using SDF parameters. More...

void	LoadPlugin (const std::string &_filename, const std::string &_name, sdf::ElementPtr _sdf)
	Load a plugin. More...

void	PrintEntityTree ()
	Print Entity tree. More...

void	PublishModelPose (physics::ModelPtr _model)
	Publish pose updates for a model. More...

void	RemoveModel (ModelPtr _model)
	Remove a model. More...

void	RemoveModel (const std::string &_name)
	Remove a model by name. More...

void	RemovePlugin (const std::string &_name)
	Remove a running plugin. More...

void	Reset ()
	Reset time and model poses, configurations in simulation. More...

void	ResetEntities (Base::EntityType _type=Base::BASE)
	Reset with options. More...

void	ResetTime ()
	Reset simulation time back to zero. More...

void	Run (unsigned int _iterations=0)
	Run the world in a thread. More...

void	RunBlocking (unsigned int _iterations=0)
	Run the world. More...

void	Save (const std::string &_filename)
	Save a world to a file. More...

void	SetPaused (bool _p)
	Set whether the simulation is paused. More...

void	SetSimTime (const common::Time &_t)
	Set the sim time. More...

void	SetState (const WorldState &_state)
	Set the current world state. More...

void	Step (unsigned int _steps)
	Step the world forward in time. More...

void	Stop ()
	Stop the world. More...

std::string	StripWorldName (const std::string &_name) const
	Return a version of the name with "<world_name>::" removed. More...

void	UpdateStateSDF ()
	Update the state SDF value from the current state. More...

Public Attributes
std::list< Entity * >	dirtyPoses
	when physics engine makes an update and changes a link pose, this flag is set to trigger Entity::SetWorldPose on the physics::Link in World::Update. More...

Detailed Description

The world provides access to all other object within a simulated environment.

The World is the container for all models and their components (links, joints, sensors, plugins, etc), and WorldPlugin instances. Many core function are also handled in the World, including physics update, model updates, and message processing.

Constructor & Destructor Documentation

gazebo::physics::World::World ( const std::string & _name = "" )

explicit

Constructor.

Constructor for the World. Must specify a unique name.

Parameters

[in] _name Name of the world.

gazebo::physics::World::~World ( )

Destructor.

Member Function Documentation

void gazebo::physics::World::Clear ( )

Remove all entities from the world.

This function has delayed effect. Models are cleared at the end of the current update iteration.

void gazebo::physics::World::ClearModels ( )

Remove all entities from the world.

Implementation of World::Clear

void gazebo::physics::World::DisableAllModels ( )

Disable all links in all the models.

Disable is a physics concept. Disabling means that the physics engine should not update an entity.

void gazebo::physics::World::EnableAllModels ( )

Enable all links in all the models.

Enable is a physics concept. Enabling means that the physics engine should update an entity.

void gazebo::physics::World::EnablePhysicsEngine ( bool _enable )

inline

enable/disable physics engine during World::Update.

Parameters

[in] _enable True to enable the physics engine.

void gazebo::physics::World::Fini ( )

Finalize the world.

Call this function to tear-down the world.

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

Get an element by name.

Searches the list of entities, and return a pointer to the model with a matching _name.

Parameters

[in] _name The name of the Model to find.

Returns: A pointer to the entity, or NULL if no entity was found.

bool gazebo::physics::World::GetEnablePhysicsEngine ( )

inline

check if physics engine is enabled/disabled.

Parameters

True	if the physics engine is enabled.

EntityPtr gazebo::physics::World::GetEntity ( const std::string & _name )

Get a pointer to an Entity based on a name.

This function is the same as GetByName, but limits the search to only Entities.

Parameters

[in] _name The name of the Entity to find.

Returns: A pointer to the Entity, or NULL if no Entity was found.

EntityPtr gazebo::physics::World::GetEntityBelowPoint ( const math::Vector3 & _pt )

Get the nearest entity below a point.

Projects a Ray down (-Z axis) starting at the given point. The first entity hit by the Ray is returned.

Parameters

[in] _pt The 3D point to search below

Returns: A pointer to nearest Entity, NULL if none is found.

uint32_t gazebo::physics::World::GetIterations ( ) const

Get the total number of iterations.

Returns: Number of iterations that simulation has taken.

ModelPtr gazebo::physics::World::GetModel ( unsigned int _index ) const

Get a model based on an index.

Get a Model using an index, where index must be greater than zero and less than World::GetModelCount()

Parameters

[in] _index The index of the model [0..GetModelCount)

Returns: A pointer to the Model. NULL if _index is invalid.

ModelPtr gazebo::physics::World::GetModel ( const std::string & _name )

Get a model by name.

This function is the same as GetByName, but limits the search to only models.

Parameters

[in] _name The name of the Model to find.

Returns: A pointer to the Model, or NULL if no model was found.

ModelPtr gazebo::physics::World::GetModelBelowPoint ( const math::Vector3 & _pt )

Get the nearest model below and not encapsulating a point.

Only objects below the start point can be returned. Any object that encapsulates the start point can not be returned from this function. This function makes use of World::GetEntityBelowPoint.

Parameters

[in] _pt The 3D point to search below.

Returns: A pointer to nearest Model, NULL if none is found.

unsigned int gazebo::physics::World::GetModelCount ( ) const

Get the number of models.

Returns: The number of models in the World.

Model_V gazebo::physics::World::GetModels ( ) const

Get a list of all the models.

Returns: A list of all the Models in the world.

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

Get the name of the world.

Returns: The name of the world.

common::Time gazebo::physics::World::GetPauseTime ( ) const

Get the amount of time simulation has been paused.

Returns: The pause time.

PhysicsEnginePtr gazebo::physics::World::GetPhysicsEngine ( ) const

Return the physics engine.

Get a pointer to the physics engine used by the world.

Returns: Pointer to the physics engine.

common::Time gazebo::physics::World::GetRealTime ( ) const

Get the real time (elapsed time).

Returns: The real time.

bool gazebo::physics::World::GetRunning ( ) const

Return the running state of the world.

Returns: True if the world is running.

msgs::Scene gazebo::physics::World::GetSceneMsg ( ) const

Get the current scene in message form.

Returns: The scene state as a protobuf message.

EntityPtr gazebo::physics::World::GetSelectedEntity ( ) const

Get the selected Entity.

The selected entity is set via the GUI.

Returns: A point to the Entity, NULL if nothing is selected.

boost::mutex* gazebo::physics::World::GetSetWorldPoseMutex ( ) const

inline

Get the set world pose mutex.

Returns: Pointer to the mutex.

common::Time gazebo::physics::World::GetSimTime ( ) const

Get the world simulation time, note if you want the PC wall clock call common::Time::GetWallTime.

Returns: The current simulation time

common::SphericalCoordinatesPtr gazebo::physics::World::GetSphericalCoordinates ( ) const

Return the spherical coordinates converter.

Returns: Pointer to the spherical coordinates converter.

common::Time gazebo::physics::World::GetStartTime ( ) const

Get the wall time simulation was started.

Returns: The start time.

void gazebo::physics::World::Init ( )

Initialize the world.

This is called after Load.

void gazebo::physics::World::InsertModelFile ( const std::string & _sdfFilename )

Insert a model from an SDF file.

Spawns a model into the world base on and SDF file.

Parameters

[in] _sdfFilename The name of the SDF file (including path).

void gazebo::physics::World::InsertModelSDF ( const sdf::SDF & _sdf )

Insert a model using SDF.

Spawns a model into the world base on and SDF object.

Parameters

[in] _sdf A reference to an SDF object.

void gazebo::physics::World::InsertModelString ( const std::string & _sdfString )

Insert a model from an SDF string.

Spawns a model into the world base on and SDF string.

Parameters

[in] _sdfString A string containing valid SDF markup.

bool gazebo::physics::World::IsLoaded ( ) const

Return true if the world has been loaded.

Returns: True if World::Load has completed.

bool gazebo::physics::World::IsPaused ( ) const

Returns the state of the simulation true if paused.

Returns: True if paused.

void gazebo::physics::World::Load ( sdf::ElementPtr _sdf )

Load the world using SDF parameters.

Load a world from and SDF pointer.

Parameters

[in] _sdf SDF parameters.

void gazebo::physics::World::LoadPlugin	(	const std::string &	_filename,
		const std::string &	_name,
		sdf::ElementPtr	_sdf
	)

Load a plugin.

Parameters

[in]	_filename	The filename of the plugin.
[in]	_name	A unique name for the plugin.
[in]	_sdf	The SDF to pass into the plugin.

void gazebo::physics::World::PrintEntityTree ( )

Print Entity tree.

Prints alls the entities to stdout.

void gazebo::physics::World::PublishModelPose ( physics::ModelPtr _model )

Publish pose updates for a model.

This list of models to publish is processed and cleared once every iteration.

Parameters

[in] _model Pointer to the model to publish.

void gazebo::physics::World::RemoveModel ( ModelPtr _model )

Remove a model.

This function will block until the physics engine is not locked. The duration of the block is less than the time to complete a simulation iteration.

Parameters

[in] _model Pointer to a model to remove.

void gazebo::physics::World::RemoveModel ( const std::string & _name )

Remove a model by name.

This function will block until the physics engine is not locked. The duration of the block is less than the time to complete a simulation iteration.

Parameters

[in] _name Name of the model to remove.

void gazebo::physics::World::RemovePlugin ( const std::string & _name )

Remove a running plugin.

Parameters

[in] _name The unique name of the plugin to remove.

void gazebo::physics::World::Reset ( )

Reset time and model poses, configurations in simulation.

void gazebo::physics::World::ResetEntities ( Base::EntityType _type = Base::BASE )

Reset with options.

The _type parameter specifies which type of eneities to reset. See Base::EntityType.

Parameters

[in] _type The type of reset.

void gazebo::physics::World::ResetTime ( )

Reset simulation time back to zero.

void gazebo::physics::World::Run ( unsigned int _iterations = 0 )

Run the world in a thread.

Run the update loop.

Parameters

[in] _iterations Run for this many iterations, then stop. A value of zero disables run stop.

void gazebo::physics::World::RunBlocking ( unsigned int _iterations = 0 )

Run the world.

This call blocks. Run the update loop.

Parameters

[in] _iterations Run for this many iterations, then stop. A value of zero disables run stop.

void gazebo::physics::World::Save ( const std::string & _filename )

Save a world to a file.

Save the current world and its state to a file.

Parameters

[in] _filename Name of the file to save into.

void gazebo::physics::World::SetPaused ( bool _p )

Set whether the simulation is paused.

Parameters

[in] _p True pauses the simulation. False runs the simulation.

void gazebo::physics::World::SetSimTime ( const common::Time & _t )

Set the sim time.

Parameters

[in] _t The new simulation time

void gazebo::physics::World::SetState ( const WorldState & _state )

Set the current world state.

Parameters

_state The state to set the World to.

void gazebo::physics::World::Step ( unsigned int _steps )

Step the world forward in time.

Parameters

[in] _steps The number of steps the World should take.

void gazebo::physics::World::Stop ( )

Stop the world.

Stop the update loop.

std::string gazebo::physics::World::StripWorldName ( const std::string & _name ) const

Return a version of the name with "<world_name>::" removed.

Parameters

[in] _name Usually the name of an entity.

Returns: The stripped world name.

void gazebo::physics::World::UpdateStateSDF ( )

Update the state SDF value from the current state.

Member Data Documentation

std::list<Entity*> gazebo::physics::World::dirtyPoses

when physics engine makes an update and changes a link pose, this flag is set to trigger Entity::SetWorldPose on the physics::Link in World::Update.

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

World.hh

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation