gazebo::physics::RayShape Class Reference

Base class for Ray collision geometry. More...

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::RayShape:

Public Member Functions
	RayShape (PhysicsEnginePtr _physicsEngine)
	Constructor for a global ray. More...
	RayShape (CollisionPtr _parent)
	Constructor. More...
virtual	~RayShape ()
	Destructor. More...
void	FillMsg (msgs::Geometry &_msg)
	Fill a message with data from this object. More...
int	GetFiducial () const
	Get the fiducial id detected by this ray. More...
virtual void	GetGlobalPoints (math::Vector3 &_posA, math::Vector3 &_posB)
	Get the global starting and ending points. More...
virtual void	GetIntersection (double &_dist, std::string &_entity)=0
	Get the nearest intersection. More...
double	GetLength () const
	Get the length of the ray. More...
virtual void	GetRelativePoints (math::Vector3 &_posA, math::Vector3 &_posB)
	Get the relative starting and ending points. More...
float	GetRetro () const
	Get the retro-reflectivness detected by this ray. More...
virtual void	Init ()
	In the ray. More...
virtual void	ProcessMsg (const msgs::Geometry &_msg)
	Update this shape from a message. More...
void	SetFiducial (int _fid)
	Set the fiducial id detected by this ray. More...
virtual void	SetLength (double _len)
	Set the length of the ray. More...
virtual void	SetPoints (const math::Vector3 &_posStart, const math::Vector3 &_posEnd)
	Set the ray based on starting and ending points relative to the body. More...
void	SetRetro (float _retro)
	Set the retro-reflectivness detected by this ray. More...
virtual void	SetScale (const math::Vector3 &_scale)
	Set the scale of the ray. More...
virtual void	Update ()=0
	Update the ray collision. 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 Attributes
int	contactFiducial
	Fiducial ID value. More...
double	contactLen
	Length of the ray. More...
double	contactRetro
	Retro reflectance value. More...
math::Vector3	globalEndPos
	End position of the ray in global cs. More...
math::Vector3	globalStartPos
	Start position of the ray in global cs. More...
math::Vector3	relativeEndPos
	End position of the ray, relative to the body. More...
math::Vector3	relativeStartPos
	Start position of the ray, relative to the body. 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

Base class for Ray collision geometry.

Constructor & Destructor Documentation

gazebo::physics::RayShape::RayShape ( PhysicsEnginePtr  _physicsEngine )

explicit

Constructor for a global ray.

Parameters

[in]

_physicsEngine

Pointer to the physics engine.

gazebo::physics::RayShape::RayShape ( CollisionPtr  _parent )

explicit

Constructor.

Parameters

[in]

_parent

Collision parent of the shape.

virtual gazebo::physics::RayShape::~RayShape ( )

virtual

Destructor.

Member Function Documentation

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

virtual

Fill a message with data from this object.

Parameters

[out]

_msg

Message to fill. Implement this function.

Implements gazebo::physics::Shape.

int gazebo::physics::RayShape::GetFiducial

(

)

const

Get the fiducial id detected by this ray.

Returns

Fiducial id detected.

virtual void gazebo::physics::RayShape::GetGlobalPoints ( math::Vector3 &  _posA, math::Vector3 &  _posB  )

virtual

Get the global starting and ending points.

Parameters

[out]	_posA	Returns the starting point.
[out]	_posB	Returns the ending point.

virtual void gazebo::physics::RayShape::GetIntersection ( double &  _dist, std::string &  _entity  )

pure virtual

Get the nearest intersection.

Parameters

[out]	_dist	Distance to the intersection.
[out]	_entity	Name of the entity the ray intersected with.

Implemented in gazebo::physics::DARTRayShape, gazebo::physics::ODERayShape, gazebo::physics::BulletRayShape, and gazebo::physics::SimbodyRayShape.

double gazebo::physics::RayShape::GetLength

(

)

const

Get the length of the ray.

Returns

The ray length.

virtual void gazebo::physics::RayShape::GetRelativePoints ( math::Vector3 &  _posA, math::Vector3 &  _posB  )

virtual

Get the relative starting and ending points.

Parameters

[in]	_posA	Returns the starting point.
[in]	_posB	Returns the ending point.

float gazebo::physics::RayShape::GetRetro

(

)

const

Get the retro-reflectivness detected by this ray.

Returns

Retro reflectance value.

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

virtual

In the ray.

Implements gazebo::physics::Shape.

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

virtual

Update this shape from a message.

Parameters

[in]

_msg

Message to update from. Implement this function.

Implements gazebo::physics::Shape.

void gazebo::physics::RayShape::SetFiducial

(

int

_fid

)

Set the fiducial id detected by this ray.

Parameters

[in]

_fid

Fiducial id detected by this ray.

virtual void gazebo::physics::RayShape::SetLength ( double  _len )

virtual

Set the length of the ray.

Parameters

[in]

_len

Length of the array.

virtual void gazebo::physics::RayShape::SetPoints ( const math::Vector3 &  _posStart, const math::Vector3 &  _posEnd  )

virtual

Set the ray based on starting and ending points relative to the body.

Parameters

[in]	_posStart	Start position, relative the body.
[in]	_posEnd	End position, relative to the body.

Reimplemented in gazebo::physics::DARTRayShape, gazebo::physics::ODERayShape, gazebo::physics::BulletRayShape, and gazebo::physics::SimbodyRayShape.

void gazebo::physics::RayShape::SetRetro

(

float

_retro

)

Set the retro-reflectivness detected by this ray.

Parameters

[in]

_retro

Retro reflectance value.

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

virtual

Set the scale of the ray.

Implements gazebo::physics::Shape.

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

pure virtual

Update the ray collision.

Reimplemented from gazebo::physics::Base.

Implemented in gazebo::physics::DARTRayShape, gazebo::physics::BulletRayShape, gazebo::physics::ODERayShape, and gazebo::physics::SimbodyRayShape.

Member Data Documentation

int gazebo::physics::RayShape::contactFiducial

protected

Fiducial ID value.

double gazebo::physics::RayShape::contactLen

protected

Length of the ray.

double gazebo::physics::RayShape::contactRetro

protected

Retro reflectance value.

math::Vector3 gazebo::physics::RayShape::globalEndPos

protected

End position of the ray in global cs.

math::Vector3 gazebo::physics::RayShape::globalStartPos

protected

Start position of the ray in global cs.

math::Vector3 gazebo::physics::RayShape::relativeEndPos

protected

End position of the ray, relative to the body.

math::Vector3 gazebo::physics::RayShape::relativeStartPos

protected

Start position of the ray, relative to the body.

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

• RayShape.hh