gazebo::physics::Actor Class Reference

Actor class enables GPU based mesh model / skeleton scriptable animation. More...

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::Actor:

Public Member Functions
	Actor (BasePtr _parent)
	Constructor. More...
virtual	~Actor ()
	Destructor. More...
virtual void	Fini ()
	Finalize the actor. More...
virtual const sdf::ElementPtr	GetSDF ()
	Get the SDF values for the actor. More...
virtual void	Init ()
	Initialize the actor. More...
virtual bool	IsActive ()
	Returns true when actor is playing animation. More...
void	Load (sdf::ElementPtr _sdf)
	Load the actor. More...
virtual void	Play ()
	Start playing the script. More...
virtual void	Stop ()
	Stop playing the script. More...
void	Update ()
	Update the actor. More...
virtual void	UpdateParameters (sdf::ElementPtr _sdf)
	update the parameters using new sdf values. More...
Public Member Functions inherited from gazebo::physics::Model
	Model (BasePtr _parent)
	Constructor. More...
virtual	~Model ()
	Destructor. More...
void	AttachStaticModel (ModelPtr &_model, math::Pose _offset)
	Attach a static model to this model. More...
void	DetachStaticModel (const std::string &_model)
	Detach a static model from this model. More...
virtual void	FillMsg (msgs::Model &_msg)
	Fill a model message. More...
bool	GetAutoDisable () const
	Return the value of the SDF <allow_auto_disable> element. More...
virtual math::Box	GetBoundingBox () const
	Get the size of the bounding box. More...
GripperPtr	GetGripper (size_t _index) const
	Get a gripper based on an index. More...
size_t	GetGripperCount () const
	Get the number of grippers in this model. More...
JointPtr	GetJoint (const std::string &name)
	Get a joint. More...
JointControllerPtr	GetJointController ()
	Get a handle to the Controller for the joints in this model. More...
unsigned int	GetJointCount () const
	Get the number of joints. More...
const Joint_V &	GetJoints () const
	Get the joints. More...
LinkPtr	GetLink (const std::string &_name="canonical") const
	Get a link by name. More...
const Link_V &	GetLinks () const
	Construct and return a vector of Link's in this model Note this constructs the vector of Link's on the fly, could be costly. More...
unsigned int	GetPluginCount () const
	Get the number of plugins this model has. More...
virtual math::Vector3	GetRelativeAngularAccel () const
	Get the angular acceleration of the entity. More...
virtual math::Vector3	GetRelativeAngularVel () const
	Get the angular velocity of the entity. More...
virtual math::Vector3	GetRelativeLinearAccel () const
	Get the linear acceleration of the entity. More...
virtual math::Vector3	GetRelativeLinearVel () const
	Get the linear velocity of the entity. More...
bool	GetSelfCollide () const
	If true, all links within the model will collide by default. More...
unsigned int	GetSensorCount () const
	Get the number of sensors attached to this model. More...
virtual math::Vector3	GetWorldAngularAccel () const
	Get the angular acceleration of the entity in the world frame. More...
virtual math::Vector3	GetWorldAngularVel () const
	Get the angular velocity of the entity in the world frame. More...
double	GetWorldEnergy () const
	Returns this model's total energy, or sum of Model::GetWorldEnergyPotential() and Model::GetWorldEnergyKinetic(). More...
double	GetWorldEnergyKinetic () const
	Returns sum of the kinetic energies of all links in this model. More...
double	GetWorldEnergyPotential () const
	Returns the potential energy of all links and joint springs in the model. More...
virtual math::Vector3	GetWorldLinearAccel () const
	Get the linear acceleration of the entity in the world frame. More...
virtual math::Vector3	GetWorldLinearVel () const
	Get the linear velocity of the entity in the world frame. More...
void	Load (sdf::ElementPtr _sdf)
	Load the model. More...
void	LoadJoints ()
	Load all the joints. More...
void	LoadPlugins ()
	Load all plugins. More...
void	ProcessMsg (const msgs::Model &_msg)
	Update parameters from a model message. More...
virtual void	RemoveChild (EntityPtr _child)
	Remove a child. More...
void	Reset ()
	Reset the model. More...
void	ResetPhysicsStates ()
	Reset the velocity, acceleration, force and torque of all child links. More...
void	SetAngularAccel (const math::Vector3 &_vel)
	Set the angular acceleration of the model, and all its links. More...
void	SetAngularVel (const math::Vector3 &_vel)
	Set the angular velocity of the model, and all its links. More...
void	SetAutoDisable (bool _disable)
	Allow the model the auto disable. More...
void	SetCollideMode (const std::string &_mode)
	This is not implemented in Link, which means this function doesn't do anything. More...
void	SetEnabled (bool _enabled)
	Enable all the links in all the models. More...
void	SetGravityMode (const bool &_value)
	Set the gravity mode of the model. More...
void	SetJointAnimation (const std::map< std::string, common::NumericAnimationPtr > &_anims, boost::function< void()> _onComplete=NULL)
	Joint Animation. More...
void	SetJointPosition (const std::string &_jointName, double _position, int _index=0)
	Set the positions of a Joint by name. More...
void	SetJointPositions (const std::map< std::string, double > &_jointPositions)
	Set the positions of a set of joints. More...
void	SetLaserRetro (const float _retro)
	Set the laser retro reflectiveness of the model. More...
void	SetLinearAccel (const math::Vector3 &_vel)
	Set the linear acceleration of the model, and all its links. More...
void	SetLinearVel (const math::Vector3 &_vel)
	Set the linear velocity of the model, and all its links. More...
void	SetLinkWorldPose (const math::Pose &_pose, std::string _linkName)
	Set the Pose of the entire Model by specifying desired Pose of a Link within the Model. More...
void	SetLinkWorldPose (const math::Pose &_pose, const LinkPtr &_link)
	Set the Pose of the entire Model by specifying desired Pose of a Link within the Model. More...
void	SetScale (const math::Vector3 &_scale)
	Set the scale of model. More...
void	SetSelfCollide (bool _self_collide)
	Set this model's self_collide property. More...
void	SetState (const ModelState &_state)
	Set the current model state. More...
virtual void	StopAnimation ()
	Stop the current animations. More...
void	Update ()
	Update the model. 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...
virtual const math::Pose &	GetWorldPose () const
	Get the absolute pose of the entity. 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...
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...
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...
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...

Protected Attributes
bool	active
	True if the actor is being updated. More...
bool	autoStart
	True if the actor should start running automatically. More...
transport::PublisherPtr	bonePosePub
	Where to send bone info. More...
std::map< std::string, bool >	interpolateX
	True to interpolate along x direction. More...
math::Vector3	lastPos
	Last position of the actor. More...
double	lastScriptTime
	Time the scipt was last updated. More...
unsigned int	lastTraj
	THe last trajectory. More...
bool	loop
	True if the animation should loop. More...
LinkPtr	mainLink
	Base link. More...
const common::Mesh *	mesh
	Pointer to the actor's mesh. More...
std::string	oldAction
	THe old action. More...
double	pathLength
	Length of the actor's path. More...
common::Time	playStartTime
	Time when the animation was started. More...
common::Time	prevFrameTime
	Time of the previous frame. More...
double	scriptLength
	Time length of a scipt. More...
std::map< std::string, common::SkeletonAnimation * >	skelAnimation
	Skeleton animations. More...
common::Skeleton *	skeleton
	The actor's skeleton. More...
std::map< std::string, std::map< std::string, std::string > >	skelNodesMap
	Skeleton to naode map. More...
std::string	skinFile
	Filename for the skin. More...
double	skinScale
	Scaling factor to apply to the skin. More...
double	startDelay
	Amount of time to delay start by. More...
std::map< unsigned int, common::PoseAnimation * >	trajectories
	All the trajectories. More...
std::vector< TrajectoryInfo >	trajInfo
	Trajectory information. More...
uint32_t	visualId
	ID for this visual. More...
std::string	visualName
	Name of the visual. More...
Protected Attributes inherited from gazebo::physics::Model
std::vector< ModelPtr >	attachedModels
	used by Model::AttachStaticModel More...
std::vector< math::Pose >	attachedModelsOffset
	used by Model::AttachStaticModel More...
transport::PublisherPtr	jointPub
	Publisher for joint info. 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,   FIXED_JOINT = 0x00004000, 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::Model
virtual void	OnPoseChange ()
	Callback when the pose of the model has been changed. 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

Actor class enables GPU based mesh model / skeleton scriptable animation.

Constructor & Destructor Documentation

gazebo::physics::Actor::Actor ( BasePtr  _parent )

explicit

Constructor.

Parameters

[in]

_parent

Parent object

virtual gazebo::physics::Actor::~Actor ( )

virtual

Destructor.

Member Function Documentation

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

virtual

Finalize the actor.

Reimplemented from gazebo::physics::Model.

virtual const sdf::ElementPtr gazebo::physics::Actor::GetSDF ( )

virtual

Get the SDF values for the actor.

Returns

Pointer to the SDF values.

Reimplemented from gazebo::physics::Model.

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

virtual

Initialize the actor.

Reimplemented from gazebo::physics::Model.

virtual bool gazebo::physics::Actor::IsActive ( )

virtual

Returns true when actor is playing animation.

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

virtual

Load the actor.

Parameters

[in]

_sdf

SDF parameters

Reimplemented from gazebo::physics::Entity.

virtual void gazebo::physics::Actor::Play ( )

virtual

Start playing the script.

virtual void gazebo::physics::Actor::Stop ( )

virtual

Stop playing the script.

void gazebo::physics::Actor::Update ( )

virtual

Update the actor.

Reimplemented from gazebo::physics::Base.

virtual void gazebo::physics::Actor::UpdateParameters ( sdf::ElementPtr  _sdf )

virtual

update the parameters using new sdf values.

Parameters

[in]

_sdf

SDF values to update from.

Reimplemented from gazebo::physics::Model.

Member Data Documentation

bool gazebo::physics::Actor::active

protected

True if the actor is being updated.

bool gazebo::physics::Actor::autoStart

protected

True if the actor should start running automatically.

transport::PublisherPtr gazebo::physics::Actor::bonePosePub

protected

Where to send bone info.

std::map<std::string, bool> gazebo::physics::Actor::interpolateX

protected

True to interpolate along x direction.

math::Vector3 gazebo::physics::Actor::lastPos

protected

Last position of the actor.

double gazebo::physics::Actor::lastScriptTime

protected

Time the scipt was last updated.

unsigned int gazebo::physics::Actor::lastTraj

protected

THe last trajectory.

bool gazebo::physics::Actor::loop

protected

True if the animation should loop.

LinkPtr gazebo::physics::Actor::mainLink

protected

Base link.

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

protected

Pointer to the actor's mesh.

std::string gazebo::physics::Actor::oldAction

protected

THe old action.

double gazebo::physics::Actor::pathLength

protected

Length of the actor's path.

common::Time gazebo::physics::Actor::playStartTime

protected

Time when the animation was started.

common::Time gazebo::physics::Actor::prevFrameTime

protected

Time of the previous frame.

double gazebo::physics::Actor::scriptLength

protected

Time length of a scipt.

std::map<std::string, common::SkeletonAnimation*> gazebo::physics::Actor::skelAnimation

protected

Skeleton animations.

common::Skeleton* gazebo::physics::Actor::skeleton

protected

The actor's skeleton.

std::map<std::string, std::map<std::string, std::string> > gazebo::physics::Actor::skelNodesMap

protected

Skeleton to naode map.

std::string gazebo::physics::Actor::skinFile

protected

Filename for the skin.

double gazebo::physics::Actor::skinScale

protected

Scaling factor to apply to the skin.

double gazebo::physics::Actor::startDelay

protected

Amount of time to delay start by.

std::map<unsigned int, common::PoseAnimation*> gazebo::physics::Actor::trajectories

protected

All the trajectories.

std::vector<TrajectoryInfo> gazebo::physics::Actor::trajInfo

protected

Trajectory information.

uint32_t gazebo::physics::Actor::visualId

protected

ID for this visual.

std::string gazebo::physics::Actor::visualName

protected

Name of the visual.

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

• Actor.hh