Link class defines a rigid body entity, containing information on inertia, visual and collision properties of a rigid body. More...

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::Link:

[legend]

Public Member Functions
	Link (EntityPtr _parent)
	Constructor. More...

virtual	~Link ()
	Destructor. More...

void	AddChildJoint (JointPtr _joint)
	Joints that have this Link as a parent Link. More...

virtual void	AddForce (const math::Vector3 &_force)=0
	Add a force to the body. More...

virtual void	AddForceAtRelativePosition (const math::Vector3 &_force, const math::Vector3 &_relPos)=0
	Add a force to the body at position expressed to the body's own frame of reference. More...

virtual void	AddForceAtWorldPosition (const math::Vector3 &_force, const math::Vector3 &_pos)=0
	Add a force to the body using a global position. More...

virtual void	AddLinkForce (const math::Vector3 &_force, const math::Vector3 &_offset=math::Vector3::Zero)=0
	Add a force expressed in the link frame. More...

void	AddParentJoint (JointPtr _joint)
	Joints that have this Link as a child Link. More...

virtual void	AddRelativeForce (const math::Vector3 &_force)=0
	Add a force to the body, components are relative to the body's own frame of reference. More...

virtual void	AddRelativeTorque (const math::Vector3 &_torque)=0
	Add a torque to the body, components are relative to the body's own frame of reference. More...

virtual void	AddTorque (const math::Vector3 &_torque)=0
	Add a torque to the body. More...

void	AttachStaticModel (ModelPtr &_model, const math::Pose &_offset)
	Attach a static model to this link. More...

template<typename T >
event::ConnectionPtr	ConnectEnabled (T _subscriber)
	Connect to the add entity signal. More...

void	DetachAllStaticModels ()
	Detach all static models from this link. More...

void	DetachStaticModel (const std::string &_modelName)
	Detach a static model from this link. More...

void	DisconnectEnabled (event::ConnectionPtr &_conn)
	Disconnect to the add entity signal. More...

void	FillMsg (msgs::Link &_msg)
	Fill a link message. More...

bool	FindAllConnectedLinksHelper (const LinkPtr &_originalParentLink, Link_V &_connectedLinks, bool _fistLink=false)
	Helper function to find all connected links of a link based on parent/child relations of joints. More...

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

double	GetAngularDamping () const
	Get the angular damping factor. More...

virtual math::Box	GetBoundingBox () const
	Get the bounding box for the link and all the child elements. More...

Joint_V	GetChildJoints () const
	Get the child joints. More...

Link_V	GetChildJointsLinks () const
	Returns a vector of children Links connected by joints. More...

CollisionPtr	GetCollision (const std::string &_name)
	Get a child collision by name. More...

CollisionPtr	GetCollision (unsigned int _index) const
	Get a child collision by index. More...

Collision_V	GetCollisions () const
	Get all the child collisions. More...

virtual bool	GetEnabled () const =0
	Get whether this body is enabled in the physics engine. More...

virtual bool	GetGravityMode () const =0
	Get the gravity mode. More...

InertialPtr	GetInertial () const
	Get the inertia of the link. More...

virtual bool	GetKinematic () const
	Implement this function. More...

double	GetLinearDamping () const
	Get the linear damping factor. More...

ModelPtr	GetModel () const
	Get the model that this body belongs to. More...

Joint_V	GetParentJoints () const
	Get the parent joints. More...

Link_V	GetParentJointsLinks () const
	Returns a vector of parent Links connected by joints. More...

math::Vector3	GetRelativeAngularAccel () const
	Get the angular acceleration of the body. More...

math::Vector3	GetRelativeAngularVel () const
	Get the angular velocity of the body. More...

math::Vector3	GetRelativeForce () const
	Get the force applied to the body. More...

math::Vector3	GetRelativeLinearAccel () const
	Get the linear acceleration of the body. More...

math::Vector3	GetRelativeLinearVel () const
	Get the linear velocity of the body. More...

math::Vector3	GetRelativeTorque () const
	Get the torque applied to the body. More...

bool	GetSelfCollide () const
	Get Self-Collision Flag. More...

unsigned int	GetSensorCount () const
	Get sensor count. More...

std::string	GetSensorName (unsigned int _index) const
	Get sensor name. More...

msgs::Visual	GetVisualMessage (const std::string &_name) const
	Returns the visual message specified by its name. More...

math::Vector3	GetWorldAngularAccel () const
	Get the angular acceleration of the body in the world frame, which is computed as (I^-1 * (T - w x L)), where I: inertia matrix in world frame T: sum of external torques in world frame L: angular momentum of CoG in world frame w: angular velocity in world frame. More...

math::Vector3	GetWorldAngularMomentum () const
	Get the angular momentum of the body CoG in the world frame, which is computed as (I * w), where I: inertia matrix in world frame w: angular velocity in world frame. More...

virtual math::Vector3	GetWorldCoGLinearVel () const =0
	Get the linear velocity at the body's center of gravity in the world frame. More...

math::Pose	GetWorldCoGPose () const
	Get the pose of the body's center of gravity in the world coordinate frame. More...

double	GetWorldEnergy () const
	Returns this link's total energy, or sum of Link::GetWorldEnergyPotential() and Link::GetWorldEnergyKinetic(). More...

double	GetWorldEnergyKinetic () const
	Returns this link's kinetic energy computed using link's CoG velocity in the inertial (world) frame. More...

double	GetWorldEnergyPotential () const
	Returns this link's potential energy, based on position in world frame and gravity. More...

virtual math::Vector3	GetWorldForce () const =0
	Get the force applied to the body in the world frame. More...

math::Pose	GetWorldInertialPose () const
	Get the world pose of the link inertia (cog position and Moment of Inertia frame). More...

math::Matrix3	GetWorldInertiaMatrix () const
	Get the inertia matrix in the world frame. More...

math::Vector3	GetWorldLinearAccel () const
	Get the linear acceleration of the body in the world frame. More...

virtual math::Vector3	GetWorldLinearVel () const
	Get the linear velocity of the origin of the link frame, expressed in the world frame. More...

virtual math::Vector3	GetWorldLinearVel (const math::Vector3 &_offset) const =0
	Get the linear velocity of a point on the body in the world frame, using an offset expressed in a body-fixed frame. More...

virtual math::Vector3	GetWorldLinearVel (const math::Vector3 &_offset, const math::Quaternion &_q) const =0
	Get the linear velocity of a point on the body in the world frame, using an offset expressed in an arbitrary frame. More...

virtual math::Vector3	GetWorldTorque () const =0
	Get the torque applied to the body in the world frame. More...

virtual void	Init ()
	Initialize the body. More...

virtual void	Load (sdf::ElementPtr _sdf)
	Load the body based on an SDF element. More...

void	MoveFrame (const math::Pose &_worldReferenceFrameSrc, const math::Pose &_worldReferenceFrameDst)
	Move Link given source and target frames specified in world coordinates. More...

virtual void	OnPoseChange ()
	This function is called when the entity's (or one of its parents) pose of the parent has changed. More...

void	ProcessMsg (const msgs::Link &_msg)
	Update parameters from a message. More...

virtual void	RemoveChild (EntityPtr _child)

void	RemoveChildJoint (const std::string &_jointName)
	Remove Joints that have this Link as a parent Link. More...

void	RemoveCollision (const std::string &_name)
	Remove a collision from the link. More...

void	RemoveParentJoint (const std::string &_jointName)
	Remove Joints that have this Link as a child Link. More...

void	Reset ()
	Reset the link. More...

void	ResetPhysicsStates ()
	Reset the velocity, acceleration, force and torque of link. More...

void	SetAngularAccel (const math::Vector3 &_accel)
	Set the angular acceleration of the body. More...

virtual void	SetAngularDamping (double _damping)=0
	Set the angular damping factor. More...

virtual void	SetAngularVel (const math::Vector3 &_vel)=0
	Set the angular velocity of the body. More...

virtual void	SetAutoDisable (bool _disable)=0
	Allow the link to auto disable. More...

void	SetCollideMode (const std::string &_mode)
	Set the collide mode of the body. More...

virtual void	SetEnabled (bool _enable) const =0
	Set whether this body is enabled. More...

virtual void	SetForce (const math::Vector3 &_force)=0
	Set the force applied to the body. More...

virtual void	SetGravityMode (bool _mode)=0
	Set whether gravity affects this body. More...

void	SetInertial (const InertialPtr &_inertial)
	Set the mass of the link. More...

virtual void	SetKinematic (const bool &_kinematic)
	Implement this function. More...

void	SetLaserRetro (float _retro)
	Set the laser retro reflectiveness. More...

void	SetLinearAccel (const math::Vector3 &_accel)
	Set the linear acceleration of the body. More...

virtual void	SetLinearDamping (double _damping)=0
	Set the linear damping factor. More...

virtual void	SetLinearVel (const math::Vector3 &_vel)=0
	Set the linear velocity of the body. More...

virtual void	SetLinkStatic (bool _static)=0
	Freeze link to ground (inertial frame). More...

void	SetPublishData (bool _enable)
	Enable/Disable link data publishing. More...

void	SetScale (const math::Vector3 &_scale)
	Set the scale of the link. More...

virtual bool	SetSelected (bool _set)
	Set whether this entity has been selected by the user through the gui. More...

virtual void	SetSelfCollide (bool _collide)=0
	Set whether this body will collide with others in the model. More...

void	SetState (const LinkState &_state)
	Set the current link state. More...

virtual void	SetTorque (const math::Vector3 &_torque)=0
	Set the torque applied to the body. More...

void	Update (const common::UpdateInfo &_info)
	Update the collision. More...

virtual void	UpdateMass ()
	Update the mass matrix. More...

virtual void	UpdateParameters (sdf::ElementPtr _sdf)
	Update the parameters using new sdf values. More...

virtual void	UpdateSurface ()
	Update surface parameters. 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 math::Vector3	GetWorldAngularVel () const
	Get the angular velocity of the entity in the world frame. 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...

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...

void	SetWorld (const WorldPtr &_newWorld)
	Set the world this object belongs to. More...

virtual void	Update ()
	Update the object. More...

Protected Types
typedef std::map< uint32_t, msgs::Visual >	Visuals_M

Protected Attributes
math::Vector3	angularAccel
	Angular acceleration. More...

std::vector< math::Pose >	attachedModelsOffset
	Offsets for the attached models. More...

std::vector< std::string >	cgVisuals
	Center of gravity visual elements. More...

InertialPtr	inertial
	Inertial properties. More...

bool	initialized
	This flag is set to true when the link is initialized. More...

math::Vector3	linearAccel
	Linear acceleration. More...

Visuals_M	visuals
	Link visual elements. 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::Base
void	ComputeScopedName ()
	Compute the scoped name of this object based on its parents. More...

Detailed Description

Link class defines a rigid body entity, containing information on inertia, visual and collision properties of a rigid body.

Member Typedef Documentation

typedef std::map<uint32_t, msgs::Visual> gazebo::physics::Link::Visuals_M

protected

Constructor & Destructor Documentation

gazebo::physics::Link::Link ( EntityPtr _parent )

explicit

Constructor.

Parameters

[in] _parent Parent of this link.

virtual gazebo::physics::Link::~Link ( )

virtual

Destructor.

Member Function Documentation

void gazebo::physics::Link::AddChildJoint ( JointPtr _joint )

Joints that have this Link as a parent Link.

Parameters

[in] _joint Joint that is a child of this link.

virtual void gazebo::physics::Link::AddForce ( const math::Vector3 & _force )

pure virtual

Add a force to the body.

Parameters

[in] _force Force to add.

Implemented in gazebo::physics::BulletLink, gazebo::physics::SimbodyLink, gazebo::physics::DARTLink, and gazebo::physics::ODELink.

virtual void gazebo::physics::Link::AddForceAtRelativePosition	(	const math::Vector3 &	_force,
		const math::Vector3 &	_relPos
	)

pure virtual

Add a force to the body at position expressed to the body's own frame of reference.

Parameters

[in]	_force	Force to add.
[in]	_relPos	Position on the link to add the force.

Implemented in gazebo::physics::BulletLink, gazebo::physics::SimbodyLink, gazebo::physics::DARTLink, and gazebo::physics::ODELink.

virtual void gazebo::physics::Link::AddForceAtWorldPosition	(	const math::Vector3 &	_force,
		const math::Vector3 &	_pos
	)

pure virtual

Add a force to the body using a global position.

Parameters

[in]	_force	Force to add.
[in]	_pos	Position in global coord frame to add the force.

Implemented in gazebo::physics::BulletLink, gazebo::physics::SimbodyLink, gazebo::physics::DARTLink, and gazebo::physics::ODELink.

virtual void gazebo::physics::Link::AddLinkForce	(	const math::Vector3 &	_force,
		const math::Vector3 &	_offset = `math::Vector3::Zero`
	)

pure virtual

Add a force expressed in the link frame.

Parameters

[in]	_force	Direction vector expressed in the link frame. Each component corresponds to the force which will be added in that axis and the vector's magnitude corresponds to the total force.
[in]	_offset	Offset position expressed in the link frame. It defaults to the link origin.

Implemented in gazebo::physics::BulletLink, gazebo::physics::SimbodyLink, gazebo::physics::DARTLink, and gazebo::physics::ODELink.

void gazebo::physics::Link::AddParentJoint ( JointPtr _joint )

Joints that have this Link as a child Link.

Parameters

[in] _joint Joint that is a parent of this link.

virtual void gazebo::physics::Link::AddRelativeForce ( const math::Vector3 & _force )

pure virtual

Add a force to the body, components are relative to the body's own frame of reference.

Parameters

[in] _force Force to add.

Implemented in gazebo::physics::BulletLink, gazebo::physics::SimbodyLink, gazebo::physics::DARTLink, and gazebo::physics::ODELink.

virtual void gazebo::physics::Link::AddRelativeTorque ( const math::Vector3 & _torque )

pure virtual

Add a torque to the body, components are relative to the body's own frame of reference.

Parameters

[in] _torque Torque value to add.

Implemented in gazebo::physics::BulletLink, gazebo::physics::SimbodyLink, gazebo::physics::DARTLink, and gazebo::physics::ODELink.

virtual void gazebo::physics::Link::AddTorque ( const math::Vector3 & _torque )

pure virtual

Add a torque to the body.

Parameters

[in] _torque Torque value to add to the link.

Implemented in gazebo::physics::BulletLink, gazebo::physics::SimbodyLink, gazebo::physics::DARTLink, and gazebo::physics::ODELink.

void gazebo::physics::Link::AttachStaticModel	(	ModelPtr &	_model,
		const math::Pose &	_offset
	)

Attach a static model to this link.

Parameters

[in]	_model	Pointer to a static model.
[in]	_offset	Pose relative to this link to place the model.

template<typename T >

event::ConnectionPtr gazebo::physics::Link::ConnectEnabled ( T _subscriber )

inline

Connect to the add entity signal.

Parameters

[in] _subscriber Subsciber callback function.

Returns: Pointer to the connection, which must be kept in scope.

void gazebo::physics::Link::DetachAllStaticModels ( )

Detach all static models from this link.

void gazebo::physics::Link::DetachStaticModel ( const std::string & _modelName )

Detach a static model from this link.

Parameters

[in] _modelName Name of an attached model to detach.

void gazebo::physics::Link::DisconnectEnabled ( event::ConnectionPtr & _conn )

inline

Disconnect to the add entity signal.

Parameters

[in] _conn Connection pointer to disconnect.

void gazebo::physics::Link::FillMsg ( msgs::Link & _msg )

Fill a link message.

Parameters

[out] _msg Message to fill

bool gazebo::physics::Link::FindAllConnectedLinksHelper	(	const LinkPtr &	_originalParentLink,
		Link_V &	_connectedLinks,
		bool	_fistLink = `false`
	)

Helper function to find all connected links of a link based on parent/child relations of joints.

For example, if Link0 –> Link1 –> ... –> LinkN is a kinematic chain with Link0 being the base link. Then, call by Link1: Link1->FindAllConnectedLinksHelper(Link0, _list, true); should return true with _list containing Link1 through LinkN. In the case the _originalParentLink is part of a loop, _connectedLinks is cleared and the function returns false.

Parameters

[in]	_originParentLink	if this link is a child link of the search, we've found a loop.
	in/out]	_connectedLinks aggregate list of connected links.
[in]	_fistLink	this is the first Link, skip over the parent link that matches the _originalParentLink.

Returns: true if successfully found a subset of connected links

void gazebo::physics::Link::Fini ( )

virtual

Finalize the body.

Reimplemented from gazebo::physics::Entity.

Reimplemented in gazebo::physics::SimbodyLink, and gazebo::physics::ODELink.

double gazebo::physics::Link::GetAngularDamping ( ) const

Get the angular damping factor.

Returns: Angular damping.

virtual math::Box gazebo::physics::Link::GetBoundingBox ( ) const

virtual

Get the bounding box for the link and all the child elements.

Returns: The link's bounding box.

Reimplemented from gazebo::physics::Entity.

Joint_V gazebo::physics::Link::GetChildJoints ( ) const

Get the child joints.

Link_V gazebo::physics::Link::GetChildJointsLinks ( ) const

Returns a vector of children Links connected by joints.

Returns: A vector of children Links connected by joints.

CollisionPtr gazebo::physics::Link::GetCollision ( const std::string & _name )

Get a child collision by name.

Parameters

[in] _name Name of the collision object.

Returns: Pointer to the collision, NULL if the name was not found.

CollisionPtr gazebo::physics::Link::GetCollision ( unsigned int _index ) const

Get a child collision by index.

Parameters

[in] _index Index of the collision object.

Returns: Pointer to the collision, NULL if the name was not found.

Collision_V gazebo::physics::Link::GetCollisions ( ) const

Get all the child collisions.

Returns: A std::vector of all the child collisions.

virtual bool gazebo::physics::Link::GetEnabled ( ) const

pure virtual

Get whether this body is enabled in the physics engine.

Returns: True if the link is enabled.

Implemented in gazebo::physics::BulletLink, gazebo::physics::DARTLink, gazebo::physics::SimbodyLink, and gazebo::physics::ODELink.

virtual bool gazebo::physics::Link::GetGravityMode ( ) const

pure virtual

Get the gravity mode.

Returns: True if gravity is enabled.

Implemented in gazebo::physics::DARTLink, gazebo::physics::ODELink, gazebo::physics::BulletLink, and gazebo::physics::SimbodyLink.

InertialPtr gazebo::physics::Link::GetInertial ( ) const

inline

Get the inertia of the link.

Returns: Inertia of the link.

virtual bool gazebo::physics::Link::GetKinematic ( ) const

inlinevirtual

Implement this function.

Get whether this body is in the kinematic state.

Returns: True if the link is kinematic only.

Reimplemented in gazebo::physics::DARTLink, and gazebo::physics::ODELink.

double gazebo::physics::Link::GetLinearDamping ( ) const

Get the linear damping factor.

Returns: Linear damping.

ModelPtr gazebo::physics::Link::GetModel ( ) const

Get the model that this body belongs to.

Returns: Model that this body belongs to.

Joint_V gazebo::physics::Link::GetParentJoints ( ) const

Get the parent joints.

Link_V gazebo::physics::Link::GetParentJointsLinks ( ) const

Returns a vector of parent Links connected by joints.

Returns: Vector of parent Links connected by joints.

math::Vector3 gazebo::physics::Link::GetRelativeAngularAccel ( ) const

virtual

Get the angular acceleration of the body.

Returns: Angular acceleration of the body.

Reimplemented from gazebo::physics::Entity.

math::Vector3 gazebo::physics::Link::GetRelativeAngularVel ( ) const

virtual

Get the angular velocity of the body.

Returns: Angular velocity of the body.

Reimplemented from gazebo::physics::Entity.

math::Vector3 gazebo::physics::Link::GetRelativeForce ( ) const

Get the force applied to the body.

Returns: Force applied to the body.

math::Vector3 gazebo::physics::Link::GetRelativeLinearAccel ( ) const

virtual

Get the linear acceleration of the body.

Returns: Linear acceleration of the body.

Reimplemented from gazebo::physics::Entity.

math::Vector3 gazebo::physics::Link::GetRelativeLinearVel ( ) const

virtual

Get the linear velocity of the body.

Returns: Linear velocity of the body.

Reimplemented from gazebo::physics::Entity.

math::Vector3 gazebo::physics::Link::GetRelativeTorque ( ) const

Get the torque applied to the body.

Returns: Torque applied to the body.

bool gazebo::physics::Link::GetSelfCollide ( ) const

Get Self-Collision Flag.

Two links within the same model will not collide if both have self_collide == false.
link 1 and link2 collide = link1.self_collide || link2.self_collide Bodies connected by a joint are exempt from this, and will never collide.

Returns: True if self collision is enabled.

unsigned int gazebo::physics::Link::GetSensorCount ( ) const

Get sensor count.

This will return the number of sensors created by the link when it was loaded. This function is commonly used with Link::GetSensorName.

Returns: The number of sensors created by the link.

std::string gazebo::physics::Link::GetSensorName ( unsigned int _index ) const

Get sensor name.

Get the name of a sensor based on an index. The index should be in the range of 0...Link::GetSensorCount().

Note: A Link does not manage or maintain a pointer to a sensors::Sensor. Access to a Sensor object is accomplished through the sensors::SensorManager. This was done to separate the physics engine from the sensor engine.

Parameters

[in] _index Index of the sensor name.

Returns: The name of the sensor, or empty string if the index is out of bounds.

msgs::Visual gazebo::physics::Link::GetVisualMessage ( const std::string & _name ) const

Returns the visual message specified by its name.

Parameters

[in] name of the visual message

Returns: visual message

math::Vector3 gazebo::physics::Link::GetWorldAngularAccel ( ) const

virtual

Get the angular acceleration of the body in the world frame, which is computed as (I^-1 * (T - w x L)), where I: inertia matrix in world frame T: sum of external torques in world frame L: angular momentum of CoG in world frame w: angular velocity in world frame.

Returns: Angular acceleration of the body in the world frame.

Reimplemented from gazebo::physics::Entity.

math::Vector3 gazebo::physics::Link::GetWorldAngularMomentum ( ) const

Get the angular momentum of the body CoG in the world frame, which is computed as (I * w), where I: inertia matrix in world frame w: angular velocity in world frame.

Returns: Angular momentum of the body.

virtual math::Vector3 gazebo::physics::Link::GetWorldCoGLinearVel ( ) const

pure virtual

Get the linear velocity at the body's center of gravity in the world frame.

Returns: Linear velocity at the body's center of gravity in the world frame.

Implemented in gazebo::physics::DARTLink, gazebo::physics::ODELink, gazebo::physics::BulletLink, and gazebo::physics::SimbodyLink.

math::Pose gazebo::physics::Link::GetWorldCoGPose ( ) const

Get the pose of the body's center of gravity in the world coordinate frame.

Returns: Pose of the body's center of gravity in the world coordinate frame.

double gazebo::physics::Link::GetWorldEnergy ( ) const

Returns this link's total energy, or sum of Link::GetWorldEnergyPotential() and Link::GetWorldEnergyKinetic().

Returns: this link's total energy

double gazebo::physics::Link::GetWorldEnergyKinetic ( ) const

Returns this link's kinetic energy computed using link's CoG velocity in the inertial (world) frame.

Returns: this link's kinetic energy

double gazebo::physics::Link::GetWorldEnergyPotential ( ) const

Returns this link's potential energy, based on position in world frame and gravity.

Returns: this link's potential energy,

virtual math::Vector3 gazebo::physics::Link::GetWorldForce ( ) const

pure virtual

Get the force applied to the body in the world frame.

Returns: Force applied to the body in the world frame.

Implemented in gazebo::physics::DARTLink, gazebo::physics::ODELink, gazebo::physics::BulletLink, and gazebo::physics::SimbodyLink.

math::Pose gazebo::physics::Link::GetWorldInertialPose ( ) const

Get the world pose of the link inertia (cog position and Moment of Inertia frame).

This differs from GetWorldCoGPose(), which returns the cog position in the link frame (not the Moment of Inertia frame).

Returns: Inertial pose in world frame.

math::Matrix3 gazebo::physics::Link::GetWorldInertiaMatrix ( ) const

Get the inertia matrix in the world frame.

Returns: Inertia matrix in world frame, returns matrix of zeros if link has no inertia.

math::Vector3 gazebo::physics::Link::GetWorldLinearAccel ( ) const

virtual

Get the linear acceleration of the body in the world frame.

Returns: Linear acceleration of the body in the world frame.

Reimplemented from gazebo::physics::Entity.

virtual math::Vector3 gazebo::physics::Link::GetWorldLinearVel ( ) const

inlinevirtual

Get the linear velocity of the origin of the link frame, expressed in the world frame.

Returns: Linear velocity of the link frame.

Reimplemented from gazebo::physics::Entity.

References gazebo::math::Vector3::Zero.

virtual math::Vector3 gazebo::physics::Link::GetWorldLinearVel ( const math::Vector3 & _offset ) const

pure virtual

Get the linear velocity of a point on the body in the world frame, using an offset expressed in a body-fixed frame.

If no offset is given, the velocity at the origin of the Link frame will be returned.

Parameters

[in] _offset Offset of the point from the origin of the Link frame, expressed in the body-fixed frame.

Returns: Linear velocity of the point on the body

Implemented in gazebo::physics::DARTLink, gazebo::physics::ODELink, gazebo::physics::BulletLink, and gazebo::physics::SimbodyLink.

virtual math::Vector3 gazebo::physics::Link::GetWorldLinearVel	(	const math::Vector3 &	_offset,
		const math::Quaternion &	_q
	)		const

pure virtual

Get the linear velocity of a point on the body in the world frame, using an offset expressed in an arbitrary frame.

Parameters

[in]	_offset	Offset from the origin of the link frame expressed in a frame defined by _q.
[in]	_q	Describes the rotation of a reference frame relative to the world reference frame.

Returns: Linear velocity of the point on the body in the world frame.

Implemented in gazebo::physics::DARTLink, gazebo::physics::ODELink, gazebo::physics::BulletLink, and gazebo::physics::SimbodyLink.

virtual math::Vector3 gazebo::physics::Link::GetWorldTorque ( ) const

pure virtual

Get the torque applied to the body in the world frame.

Returns: Torque applied to the body in the world frame.

Implemented in gazebo::physics::DARTLink, gazebo::physics::ODELink, gazebo::physics::BulletLink, and gazebo::physics::SimbodyLink.

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

virtual

Initialize the body.

Reimplemented from gazebo::physics::Base.

Reimplemented in gazebo::physics::BulletLink, gazebo::physics::DARTLink, gazebo::physics::SimbodyLink, and gazebo::physics::ODELink.

virtual void gazebo::physics::Link::Load ( sdf::ElementPtr _sdf )

virtual

Load the body based on an SDF element.

Parameters

[in] _sdf SDF parameters.

Reimplemented from gazebo::physics::Entity.

Reimplemented in gazebo::physics::BulletLink, gazebo::physics::DARTLink, gazebo::physics::SimbodyLink, and gazebo::physics::ODELink.

void gazebo::physics::Link::MoveFrame	(	const math::Pose &	_worldReferenceFrameSrc,
		const math::Pose &	_worldReferenceFrameDst
	)

Move Link given source and target frames specified in world coordinates.

Assuming link's relative pose to source frame (_worldReferenceFrameSrc) remains unchanged relative to destination frame (_worldReferenceFrameDst).

Parameters

[in]	_worldReferenceFrameSrc	initial reference frame to which this link is attached.
[in]	_worldReferenceFrameDst	final location of the reference frame specified in world coordinates.

virtual void gazebo::physics::Link::OnPoseChange ( )

virtual

This function is called when the entity's (or one of its parents) pose of the parent has changed.

Implements gazebo::physics::Entity.

Reimplemented in gazebo::physics::BulletLink, gazebo::physics::DARTLink, gazebo::physics::SimbodyLink, and gazebo::physics::ODELink.

void gazebo::physics::Link::ProcessMsg ( const msgs::Link & _msg )

Update parameters from a message.

Parameters

[in] _msg Message to read.

virtual void gazebo::physics::Link::RemoveChild ( EntityPtr _child )

virtual

void gazebo::physics::Link::RemoveChildJoint ( const std::string & _jointName )

Remove Joints that have this Link as a parent Link.

Parameters

[in] _jointName Child Joint name.

void gazebo::physics::Link::RemoveCollision ( const std::string & _name )

Remove a collision from the link.

Parameters

int]	_name Name of the collision to remove.

void gazebo::physics::Link::RemoveParentJoint ( const std::string & _jointName )

Remove Joints that have this Link as a child Link.

Parameters

[in] _jointName Parent Joint name.

void gazebo::physics::Link::Reset ( )

virtual

Reset the link.

Reimplemented from gazebo::physics::Entity.

void gazebo::physics::Link::ResetPhysicsStates ( )

Reset the velocity, acceleration, force and torque of link.

void gazebo::physics::Link::SetAngularAccel ( const math::Vector3 & _accel )

Set the angular acceleration of the body.

Parameters

[in] _accel Angular acceleration.

virtual void gazebo::physics::Link::SetAngularDamping ( double _damping )

pure virtual

Set the angular damping factor.

Parameters

[in] _damping Angular damping factor.

Implemented in gazebo::physics::DARTLink, gazebo::physics::ODELink, gazebo::physics::BulletLink, and gazebo::physics::SimbodyLink.

virtual void gazebo::physics::Link::SetAngularVel ( const math::Vector3 & _vel )

pure virtual

Set the angular velocity of the body.

Parameters

[in] _vel Angular velocity.

Implemented in gazebo::physics::BulletLink, gazebo::physics::DARTLink, gazebo::physics::ODELink, and gazebo::physics::SimbodyLink.

virtual void gazebo::physics::Link::SetAutoDisable ( bool _disable )

pure virtual

Allow the link to auto disable.

Parameters

[in] _disable If true, the link is allowed to auto disable.

Implemented in gazebo::physics::BulletLink, gazebo::physics::DARTLink, gazebo::physics::ODELink, and gazebo::physics::SimbodyLink.

void gazebo::physics::Link::SetCollideMode ( const std::string & _mode )

Set the collide mode of the body.

Parameters

[in] _mode Collision Mode, this can be: [all|none|sensors|fixed|ghost] all: collides with everything none: collides with nothing sensors: collides with everything else but other sensors fixed: collides with everything else but other fixed ghost: collides with everything else but other ghost

virtual void gazebo::physics::Link::SetEnabled ( bool _enable ) const

pure virtual

Set whether this body is enabled.

Parameters

[in] _enable True to enable the link in the physics engine.

Implemented in gazebo::physics::BulletLink, gazebo::physics::DARTLink, gazebo::physics::SimbodyLink, and gazebo::physics::ODELink.

virtual void gazebo::physics::Link::SetForce ( const math::Vector3 & _force )

pure virtual

Set the force applied to the body.

Parameters

[in] _force Force value.

Implemented in gazebo::physics::BulletLink, gazebo::physics::DARTLink, gazebo::physics::ODELink, and gazebo::physics::SimbodyLink.

virtual void gazebo::physics::Link::SetGravityMode ( bool _mode )

pure virtual

Set whether gravity affects this body.

Parameters

[in] _mode True to enable gravity.

Implemented in gazebo::physics::DARTLink, gazebo::physics::ODELink, gazebo::physics::BulletLink, and gazebo::physics::SimbodyLink.

void gazebo::physics::Link::SetInertial ( const InertialPtr & _inertial )

Set the mass of the link.

[in] _inertial Inertial value for the link.

virtual void gazebo::physics::Link::SetKinematic ( const bool & _kinematic )

virtual

Implement this function.

Set whether this body is in the kinematic state.

Parameters

[in] _kinematic True to make the link kinematic only.

Reimplemented in gazebo::physics::DARTLink, and gazebo::physics::ODELink.

void gazebo::physics::Link::SetLaserRetro ( float _retro )

Set the laser retro reflectiveness.

Parameters

[in] _retro Retro value for all child collisions.

void gazebo::physics::Link::SetLinearAccel ( const math::Vector3 & _accel )

Set the linear acceleration of the body.

Parameters

[in] _accel Linear acceleration.

virtual void gazebo::physics::Link::SetLinearDamping ( double _damping )

pure virtual

Set the linear damping factor.

Parameters

[in] _damping Linear damping factor.

Implemented in gazebo::physics::DARTLink, gazebo::physics::ODELink, gazebo::physics::BulletLink, and gazebo::physics::SimbodyLink.

virtual void gazebo::physics::Link::SetLinearVel ( const math::Vector3 & _vel )

pure virtual

Set the linear velocity of the body.

Parameters

[in] _vel Linear velocity.

Implemented in gazebo::physics::BulletLink, gazebo::physics::DARTLink, gazebo::physics::ODELink, and gazebo::physics::SimbodyLink.

virtual void gazebo::physics::Link::SetLinkStatic ( bool _static )

pure virtual

Freeze link to ground (inertial frame).

Parameters

[in] _static if true, freeze link to ground. Otherwise unfreeze link.

Implemented in gazebo::physics::ODELink, gazebo::physics::BulletLink, gazebo::physics::SimbodyLink, and gazebo::physics::DARTLink.

void gazebo::physics::Link::SetPublishData ( bool _enable )

Enable/Disable link data publishing.

Parameters

[in] _enable True to enable publishing, false to stop publishing

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

Set the scale of the link.

Parameters

[in] _scale Scale to set the link to.

virtual bool gazebo::physics::Link::SetSelected ( bool _set )

virtual

Set whether this entity has been selected by the user through the gui.

Parameters

[in] _set True to set the link as selected.

Reimplemented from gazebo::physics::Base.

virtual void gazebo::physics::Link::SetSelfCollide ( bool _collide )

pure virtual

Set whether this body will collide with others in the model.

See Also: GetSelfCollide

Parameters

[in] _collide True to enable collisions.

Implemented in gazebo::physics::DARTLink, gazebo::physics::ODELink, gazebo::physics::BulletLink, and gazebo::physics::SimbodyLink.

void gazebo::physics::Link::SetState ( const LinkState & _state )

Set the current link state.

Parameters

[in] _state The state to set the link to.

virtual void gazebo::physics::Link::SetTorque ( const math::Vector3 & _torque )

pure virtual

Set the torque applied to the body.

Parameters

[in] _torque Torque value.

Implemented in gazebo::physics::BulletLink, gazebo::physics::DARTLink, gazebo::physics::ODELink, and gazebo::physics::SimbodyLink.

void gazebo::physics::Link::Update ( const common::UpdateInfo & _info )

Update the collision.

Parameters

[in] _info Update information.

virtual void gazebo::physics::Link::UpdateMass ( )

inlinevirtual

Update the mass matrix.

Reimplemented in gazebo::physics::ODELink.

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

virtual

Update the parameters using new sdf values.

Parameters

[in] _sdf SDF values to load from.

Reimplemented from gazebo::physics::Entity.

virtual void gazebo::physics::Link::UpdateSurface ( )

inlinevirtual

Update surface parameters.

Reimplemented in gazebo::physics::ODELink.

Member Data Documentation

math::Vector3 gazebo::physics::Link::angularAccel

protected

Angular acceleration.

std::vector<math::Pose> gazebo::physics::Link::attachedModelsOffset

protected

Offsets for the attached models.

std::vector<std::string> gazebo::physics::Link::cgVisuals

protected

Center of gravity visual elements.

InertialPtr gazebo::physics::Link::inertial

protected

Inertial properties.

bool gazebo::physics::Link::initialized

protected

This flag is set to true when the link is initialized.

math::Vector3 gazebo::physics::Link::linearAccel

protected

Linear acceleration.

Visuals_M gazebo::physics::Link::visuals

protected

Link visual elements.

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

Link.hh

Public Member Functions

Protected Types

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation