Public Member Functions | Protected Attributes | List of all members
gazebo::physics::MeshShape Class Reference

Triangle mesh collision shape. More...

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::MeshShape:
Inheritance graph

Public Member Functions

 MeshShape (CollisionPtr _parent)
 Constructor. More...
virtual ~MeshShape ()
 Destructor. More...
void FillMsg (msgs::Geometry &_msg)
 Populate a msgs::Geometry message with data from this shape. More...
std::string GetMeshURI () const
 Get the URI of the mesh data. More...
virtual math::Vector3 GetSize () const
 Get the size of the triangle mesh. More...
virtual void Init ()
 Initialize the shape. More...
virtual void ProcessMsg (const msgs::Geometry &_msg)
 Update this shape from a message. More...
void SetMesh (const std::string &_uri, const std::string &_submesh="", bool _center=false)
 Set the mesh uri and submesh name. More...
void SetScale (const math::Vector3 &_scale)
 Set the scaling factor. More...
virtual void Update ()
 Update the tri mesh. 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 WorldPtrGetWorld () 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 Attributes

const common::Meshmesh
 Pointer to the mesh data. More...
 The submesh to use from within the parent mesh. 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...
- Protected Member Functions inherited from gazebo::physics::Base
void ComputeScopedName ()
 Compute the scoped name of this object based on its parents. More...

Detailed Description

Triangle mesh collision shape.

Constructor & Destructor Documentation

gazebo::physics::MeshShape::MeshShape ( CollisionPtr  _parent)


[in]_parentParent collision.
virtual gazebo::physics::MeshShape::~MeshShape ( )


Member Function Documentation

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

Populate a msgs::Geometry message with data from this shape.

[out]_msgMessage to fill.

Implements gazebo::physics::Shape.

std::string gazebo::physics::MeshShape::GetMeshURI ( ) const

Get the URI of the mesh data.

The URI of the mesh data.
virtual math::Vector3 gazebo::physics::MeshShape::GetSize ( ) const

Get the size of the triangle mesh.

The size of the triangle mesh.
virtual void gazebo::physics::MeshShape::Init ( )
virtual void gazebo::physics::MeshShape::ProcessMsg ( const msgs::Geometry &  _msg)

Update this shape from a message.

[in]_msgMessage that contains triangle mesh info.

Implements gazebo::physics::Shape.

void gazebo::physics::MeshShape::SetMesh ( const std::string &  _uri,
const std::string &  _submesh = "",
bool  _center = false 

Set the mesh uri and submesh name.

[in]_uriFilename of the mesh file to load from.
[in]_submeshName of the submesh to use within the mesh
[in]_centerTrue to center the submesh. specified in the _uri.
void gazebo::physics::MeshShape::SetScale ( const math::Vector3 _scale)

Set the scaling factor.

[in]_scaleScaling factor.

Implements gazebo::physics::Shape.

virtual void gazebo::physics::MeshShape::Update ( )

Update the tri mesh.

Reimplemented from gazebo::physics::Base.

Reimplemented in gazebo::physics::DARTMeshShape, and gazebo::physics::ODEMeshShape.

Member Data Documentation

const common::Mesh* gazebo::physics::MeshShape::mesh

Pointer to the mesh data.

common::SubMesh* gazebo::physics::MeshShape::submesh

The submesh to use from within the parent mesh.

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