Simbody collisions. More...
#include <SimbodyCollision.hh>
Public Member Functions | |
| SimbodyCollision (LinkPtr _parent) | |
| Constructor. More... | |
| virtual | ~SimbodyCollision () |
| Destructor. More... | |
| virtual math::Box | GetBoundingBox () const |
| Get the bounding box for this collision. More... | |
| SimTK::ContactGeometry * | GetCollisionShape () const |
| Get the simbody collision shape. More... | |
| virtual void | Load (sdf::ElementPtr _ptr) |
| 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 | SetCollisionShape (SimTK::ContactGeometry *_shape) |
| Set the collision shape. 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... | |
| virtual void | Fini () |
| Finalize the collision. 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 () const |
| 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... | |
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... | |
| 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... | |
Simbody collisions.
| gazebo::physics::SimbodyCollision::SimbodyCollision | ( | LinkPtr | _parent | ) |
Constructor.
|
virtual |
Destructor.
|
virtual |
Get the bounding box for this collision.
Implements gazebo::physics::Collision.
| SimTK::ContactGeometry* gazebo::physics::SimbodyCollision::GetCollisionShape | ( | ) | const |
Get the simbody collision shape.
|
virtual |
Load the collision.
| [in] | _sdf | SDF to load from. |
Reimplemented from gazebo::physics::Collision.
|
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 |
Set the category bits, used during collision detection.
| [in] | _bits | The bits to set. |
Implements gazebo::physics::Collision.
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virtual |
Set the collide bits, used during collision detection.
| [in] | _bits | The bits to set. |
Implements gazebo::physics::Collision.
| void gazebo::physics::SimbodyCollision::SetCollisionShape | ( | SimTK::ContactGeometry * | _shape | ) |