ODE physics engine. More...

#include <ODEPhysics.hh>

Inheritance diagram for gazebo::physics::ODEPhysics:

Public Types
enum	ODEParam { SOLVER_TYPE, GLOBAL_CFM, GLOBAL_ERP, SOR_PRECON_ITERS, PGS_ITERS, SOR, CONTACT_MAX_CORRECTING_VEL, CONTACT_SURFACE_LAYER, MAX_CONTACTS, MIN_STEP_SIZE, INERTIA_RATIO_REDUCTION, FRICTION_MODEL, WORLD_SOLVER_TYPE }
	ODE Physics parameter types. More...

Public Member Functions
	ODEPhysics (WorldPtr _world)
	Constructor. More...

virtual	~ODEPhysics ()
	Destructor. More...

void	Collide (ODECollision _collision1, ODECollision _collision2, dContactGeom *_contactCollisions)
	Collide two collision objects. More...

virtual CollisionPtr	CreateCollision (const std::string &_shapeType, LinkPtr _parent)
	Create a collision. More...

virtual JointPtr	CreateJoint (const std::string &_type, ModelPtr _parent)
	Create a new joint. More...

virtual LinkPtr	CreateLink (ModelPtr _parent)
	Create a new body. More...

virtual ShapePtr	CreateShape (const std::string &_shapeType, CollisionPtr _collision)
	Create a physics::Shape object. More...

virtual void	DebugPrint () const
	Debug print out of the physic engine state. More...

virtual void	Fini ()
	Finilize the physics engine. More...

virtual double	GetContactMaxCorrectingVel ()
	: Remove this function, and replace it with a more generic property map. More...

virtual double	GetContactSurfaceLayer ()
	: Remove this function, and replace it with a more generic property map. More...

virtual std::string	GetFrictionModel () const
	Get friction model. More...

virtual unsigned int	GetMaxContacts ()
	: Remove this function, and replace it with a more generic property map. More...

virtual boost::any	GetParam (const std::string &_key) const
	Documentation inherited. More...

virtual bool	GetParam (const std::string &_key, boost::any &_value) const
	Documentation inherited. More...

virtual int	GetSORPGSIters ()

virtual int	GetSORPGSPreconIters ()

virtual double	GetSORPGSW ()

dSpaceID	GetSpaceId () const
	Return the world space id. More...

virtual std::string	GetStepType () const
	Get the step type (quick, world). More...

virtual std::string	GetType () const
	Return the physics engine type (ode\|bullet\|dart\|simbody). More...

virtual double	GetWorldCFM ()
	: Remove this function, and replace it with a more generic property map More...

virtual double	GetWorldERP ()
	: Remove this function, and replace it with a more generic property map More...

dWorldID	GetWorldId ()
	Get the world id. More...

virtual std::string	GetWorldStepSolverType () const
	Get solver type for world step. More...

virtual void	Init ()
	Initialize the physics engine. More...

virtual void	InitForThread ()
	Init the engine for threads. More...

virtual void	Load (sdf::ElementPtr _sdf)
	Load the physics engine. More...

void	ProcessJointFeedback (ODEJointFeedback *_feedback)
	process joint feedbacks. More...

virtual void	Reset ()
	Rest the physics engine. More...

virtual void	SetContactMaxCorrectingVel (double vel)
	: Remove this function, and replace it with a more generic property map More...

virtual void	SetContactSurfaceLayer (double layer_depth)
	: Remove this function, and replace it with a more generic property map More...

virtual void	SetFrictionModel (const std::string &_fricModel)
	Set friction model type. More...

virtual void	SetGravity (const gazebo::math::Vector3 &_gravity)
	Set the gravity vector. More...

virtual void	SetMaxContacts (unsigned int max_contacts)
	: Remove this function, and replace it with a more generic property map More...

virtual bool	SetParam (const std::string &_key, const boost::any &_value)
	Documentation inherited. More...

virtual void	SetSeed (uint32_t _seed)
	Set the random number seed for the physics engine. More...

virtual void	SetSORPGSIters (unsigned int iters)

virtual void	SetSORPGSPreconIters (unsigned int iters)

virtual void	SetSORPGSW (double w)

virtual void	SetStepType (const std::string &_type)
	Set the step type (quick, world). More...

virtual void	SetWorldCFM (double cfm)
	: Remove this function, and replace it with a more generic property map More...

virtual void	SetWorldERP (double erp)
	: Remove this function, and replace it with a more generic property map More...

virtual void	SetWorldStepSolverType (const std::string &_worldSolverType)
	Set world step solver type. More...

virtual void	UpdateCollision ()
	Update the physics engine collision. More...

virtual void	UpdatePhysics ()
	Update the physics engine. More...

Public Member Functions inherited from gazebo::physics::PhysicsEngine
	PhysicsEngine (WorldPtr _world)
	Default constructor. More...

virtual	~PhysicsEngine ()
	Destructor. More...

CollisionPtr	CreateCollision (const std::string &_shapeType, const std::string &_linkName)
	Create a collision. More...

virtual ModelPtr	CreateModel (BasePtr _base)
	Create a new model. More...

virtual bool	GetAutoDisableFlag ()
	: Remove this function, and replace it with a more generic property map More...

ContactManager *	GetContactManager () const
	Get a pointer to the contact manger. More...

virtual math::Vector3	GetGravity () const
	Return the gravity vector. More...

double	GetMaxStepSize () const
	Get max step size. More...

boost::recursive_mutex *	GetPhysicsUpdateMutex () const
	returns a pointer to the PhysicsEngine::physicsUpdateMutex. More...

double	GetRealTimeUpdateRate () const
	Get real time update rate. More...

sdf::ElementPtr	GetSDF () const
	Get a pointer to the SDF element for this physics engine. More...

double	GetTargetRealTimeFactor () const
	Get target real time factor. More...

double	GetUpdatePeriod ()
	Get the simulation update period. More...

virtual ignition::math::Vector3d	MagneticField () const
	Return the magnetic field vector. More...

virtual void	SetAutoDisableFlag (bool _autoDisable)
	: Remove this function, and replace it with a more generic property map More...

void	SetMaxStepSize (double _stepSize)
	Set max step size. More...

void	SetRealTimeUpdateRate (double _rate)
	Set real time update rate. More...

void	SetTargetRealTimeFactor (double _factor)
	Set target real time factor. More...

Static Public Member Functions
static Friction_Model	ConvertFrictionModel (const std::string &_fricModel)
	Convert a string to a Friction_Model enum. More...

static std::string	ConvertFrictionModel (const Friction_Model _fricModel)
	Convert a Friction_Model enum to a string. More...

static void	ConvertMass (InertialPtr _interial, void *_odeMass)
	Convert an ODE mass to Inertial. More...

static void	ConvertMass (void *_odeMass, InertialPtr _inertial)
	Convert an Inertial to ODE mass. More...

static std::string	ConvertWorldStepSolverType (const World_Solver_Type _solverType)
	Convert a World_Solver_Type enum to a string. More...

static World_Solver_Type	ConvertWorldStepSolverType (const std::string &_solverType)
	Convert a string to a World_Solver_Type enum. More...

Protected Member Functions
virtual void	OnPhysicsMsg (ConstPhysicsPtr &_msg)
	virtual callback for gztopic "~/physics". More...

virtual void	OnRequest (ConstRequestPtr &_msg)
	virtual callback for gztopic "~/request". More...

Additional Inherited Members
Protected Attributes inherited from gazebo::physics::PhysicsEngine
ContactManager *	contactManager
	Class that handles all contacts generated by the physics engine. More...

double	maxStepSize
	Real time update rate. More...

transport::NodePtr	node
	Node for communication. More...

transport::SubscriberPtr	physicsSub
	Subscribe to the physics topic. More...

boost::recursive_mutex *	physicsUpdateMutex
	Mutex to protect the update cycle. More...

double	realTimeUpdateRate
	Real time update rate. More...

transport::SubscriberPtr	requestSub
	Subscribe to the request topic. More...

transport::PublisherPtr	responsePub
	Response publisher. More...

sdf::ElementPtr	sdf
	Our SDF values. More...

double	targetRealTimeFactor
	Target real time factor. More...

WorldPtr	world
	Pointer to the world. More...

Detailed Description

ODE physics engine.

Member Enumeration Documentation

enum gazebo::physics::ODEPhysics::ODEParam

ODE Physics parameter types.

Enumerator
SOLVER_TYPE	Solve type.
GLOBAL_CFM	Constraint force mixing.
GLOBAL_ERP	Error reduction parameter.
SOR_PRECON_ITERS	Number of iterations.
PGS_ITERS	Number of iterations.
SOR	SOR over-relaxation parameter.
CONTACT_MAX_CORRECTING_VEL	Max correcting velocity.
CONTACT_SURFACE_LAYER	Surface layer depth.
MAX_CONTACTS	Maximum number of contacts.
MIN_STEP_SIZE	Minimum step size.
INERTIA_RATIO_REDUCTION	Limit ratios of inertias of adjacent links (note that the corresponding SDF tag is "use_dynamic_moi_rescaling")
FRICTION_MODEL	friction model
WORLD_SOLVER_TYPE	LCP Solver.

Constructor & Destructor Documentation

gazebo::physics::ODEPhysics::ODEPhysics ( WorldPtr _world )

Constructor.

Parameters

[in] _world The World that uses this physics engine.

virtual gazebo::physics::ODEPhysics::~ODEPhysics ( )

virtual

Destructor.

Member Function Documentation

void gazebo::physics::ODEPhysics::Collide	(	ODECollision *	_collision1,
		ODECollision *	_collision2,
		dContactGeom *	_contactCollisions
	)

Collide two collision objects.

Parameters

[in]	_collision1	First collision object.
[in]	_collision2	Second collision object.
[in,out]	_contactCollision	Array of contacts.

static Friction_Model gazebo::physics::ODEPhysics::ConvertFrictionModel ( const std::string & _fricModel )

static

Convert a string to a Friction_Model enum.

Parameters

[in] _fricModel Friction model string.

Returns: A Friction_Model enum. Defaults to pyramid_friction if _fricModel is unrecognized.

static std::string gazebo::physics::ODEPhysics::ConvertFrictionModel ( const Friction_Model _fricModel )

static

Convert a Friction_Model enum to a string.

Parameters

[in] _fricModel Friction_Model enum.

Returns: Friction model string. Returns "unknown" if _fricModel is unrecognized.

static void gazebo::physics::ODEPhysics::ConvertMass	(	InertialPtr	_interial,
		void *	_odeMass
	)

static

Convert an ODE mass to Inertial.

Parameters

[out]	_intertial	Pointer to an Inertial object.
[in]	_odeMass	Pointer to an ODE mass that will be converted.

static void gazebo::physics::ODEPhysics::ConvertMass	(	void *	_odeMass,
		InertialPtr	_inertial
	)

static

Convert an Inertial to ODE mass.

Parameters

[out]	_odeMass	Pointer to an ODE mass.
[in]	_intertial	Pointer to an Inertial object that will be converted.

static std::string gazebo::physics::ODEPhysics::ConvertWorldStepSolverType ( const World_Solver_Type _solverType )

static

Convert a World_Solver_Type enum to a string.

Parameters

[in] _solverType World_Solver_Type enum.

Returns: world solver type string. Returns "unknown" if _solverType is unrecognized.

static World_Solver_Type gazebo::physics::ODEPhysics::ConvertWorldStepSolverType ( const std::string & _solverType )

static

Convert a string to a World_Solver_Type enum.

Parameters

[in] _solverType world solver type string.

Returns: A World_Solver_Type enum. Defaults to ODE_DEFAULT if _solverType is unrecognized.

virtual CollisionPtr gazebo::physics::ODEPhysics::CreateCollision	(	const std::string &	_shapeType,
		LinkPtr	_link
	)

virtual

Create a collision.

Parameters

[in]	_shapeType	Type of collision to create.
[in]	_link	Parent link.

Implements gazebo::physics::PhysicsEngine.

virtual JointPtr gazebo::physics::ODEPhysics::CreateJoint	(	const std::string &	_type,
		ModelPtr	_parent
	)

virtual

Create a new joint.

Parameters

[in]	_type	Type of joint to create.
[in]	_parent	Model parent.

Implements gazebo::physics::PhysicsEngine.

virtual LinkPtr gazebo::physics::ODEPhysics::CreateLink ( ModelPtr _parent )

virtual

Create a new body.

Parameters

[in] _parent Parent model for the link.

Implements gazebo::physics::PhysicsEngine.

virtual ShapePtr gazebo::physics::ODEPhysics::CreateShape	(	const std::string &	_shapeType,
		CollisionPtr	_collision
	)

virtual

Create a physics::Shape object.

Parameters

[in]	_shapeType	Type of shape to create.
[in]	_collision	Collision parent.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::DebugPrint ( ) const

virtual

Debug print out of the physic engine state.

Implements gazebo::physics::PhysicsEngine.

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

virtual

Finilize the physics engine.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual double gazebo::physics::ODEPhysics::GetContactMaxCorrectingVel ( )

virtual

: Remove this function, and replace it with a more generic property map.

access functions to set ODE parameters.

Returns: Max correcting velocity.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual double gazebo::physics::ODEPhysics::GetContactSurfaceLayer ( )

virtual

: Remove this function, and replace it with a more generic property map.

access functions to set ODE parameters.

Returns: Contact suerface layer depth.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual std::string gazebo::physics::ODEPhysics::GetFrictionModel ( ) const

virtual

Get friction model.

Returns: Friction model type.

virtual unsigned int gazebo::physics::ODEPhysics::GetMaxContacts ( )

virtual

: Remove this function, and replace it with a more generic property map.

access functions to set ODE parameters.

Returns: Maximum number of allows contacts.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual boost::any gazebo::physics::ODEPhysics::GetParam ( const std::string & _key ) const

virtual

Documentation inherited.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual bool gazebo::physics::ODEPhysics::GetParam	(	const std::string &	_key,
		boost::any &	_value
	)		const

virtual

Documentation inherited.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual int gazebo::physics::ODEPhysics::GetSORPGSIters ( )

virtual

virtual int gazebo::physics::ODEPhysics::GetSORPGSPreconIters ( )

virtual

virtual double gazebo::physics::ODEPhysics::GetSORPGSW ( )

virtual

dSpaceID gazebo::physics::ODEPhysics::GetSpaceId ( ) const

Return the world space id.

Returns: The space id for the world.

virtual std::string gazebo::physics::ODEPhysics::GetStepType ( ) const

virtual

Get the step type (quick, world).

Returns: The step type.

virtual std::string gazebo::physics::ODEPhysics::GetType ( ) const

inlinevirtual

Return the physics engine type (ode|bullet|dart|simbody).

Returns: Type of the physics engine.

Implements gazebo::physics::PhysicsEngine.

virtual double gazebo::physics::ODEPhysics::GetWorldCFM ( )

virtual

: Remove this function, and replace it with a more generic property map

Get World CFM.

Returns: World CFM.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual double gazebo::physics::ODEPhysics::GetWorldERP ( )

virtual

: Remove this function, and replace it with a more generic property map

Get World ERP.

Returns: World ERP.

Reimplemented from gazebo::physics::PhysicsEngine.

dWorldID gazebo::physics::ODEPhysics::GetWorldId ( )

Get the world id.

Returns: The world id.

virtual std::string gazebo::physics::ODEPhysics::GetWorldStepSolverType ( ) const

virtual

Get solver type for world step.

Returns: Type of solver used by world step.

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

virtual

Initialize the physics engine.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::InitForThread ( )

virtual

Init the engine for threads.

Implements gazebo::physics::PhysicsEngine.

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

virtual

Load the physics engine.

Parameters

[in] _sdf Pointer to the SDF parameters.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::OnPhysicsMsg ( ConstPhysicsPtr & _msg )

protectedvirtual

virtual callback for gztopic "~/physics".

Parameters

[in] _msg Physics message.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::OnRequest ( ConstRequestPtr & _msg )

protectedvirtual

virtual callback for gztopic "~/request".

Parameters

[in] _msg Request message.

Reimplemented from gazebo::physics::PhysicsEngine.

void gazebo::physics::ODEPhysics::ProcessJointFeedback ( ODEJointFeedback * _feedback )

process joint feedbacks.

Parameters

[in] _feedback ODE Joint Contact feedback information.

virtual void gazebo::physics::ODEPhysics::Reset ( )

virtual

Rest the physics engine.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::SetContactMaxCorrectingVel ( double )

virtual

: Remove this function, and replace it with a more generic property map

Access functions to set ODE parameters.

Parameters

[in] _vel Max correcting velocity.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::SetContactSurfaceLayer ( double )

virtual

: Remove this function, and replace it with a more generic property map

Access functions to set ODE parameters.

Parameters

[in] _layerDepth Surface layer depth

Reimplemented from gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::SetFrictionModel ( const std::string & _fricModel )

virtual

Set friction model type.

Parameters

[in] _fricModel Type of friction model.

virtual void gazebo::physics::ODEPhysics::SetGravity ( const gazebo::math::Vector3 & _gravity )

virtual

Set the gravity vector.

Parameters

[in] _gravity New gravity vector.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::SetMaxContacts ( unsigned int _maxContacts )

virtual

: Remove this function, and replace it with a more generic property map

access functions to set ODE parameters

Parameters

[in] _maxContacts Maximum number of contacts.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual bool gazebo::physics::ODEPhysics::SetParam	(	const std::string &	_key,
		const boost::any &	_value
	)

virtual

Documentation inherited.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::SetSeed ( uint32_t _seed )

virtual

Set the random number seed for the physics engine.

Parameters

[in] _seed The random number seed.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::SetSORPGSIters ( unsigned int iters )

virtual

virtual void gazebo::physics::ODEPhysics::SetSORPGSPreconIters ( unsigned int iters )

virtual

virtual void gazebo::physics::ODEPhysics::SetSORPGSW ( double w )

virtual

virtual void gazebo::physics::ODEPhysics::SetStepType ( const std::string & _type )

virtual

Set the step type (quick, world).

Parameters

[in] _type The step type (quick or world).

virtual void gazebo::physics::ODEPhysics::SetWorldCFM ( double )

virtual

: Remove this function, and replace it with a more generic property map

Access functions to set ODE parameters.

Parameters

[in] _cfm Constraint force mixing.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::SetWorldERP ( double )

virtual

: Remove this function, and replace it with a more generic property map

Access functions to set ODE parameters.

Parameters

[in] _erp Error reduction parameter.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::SetWorldStepSolverType ( const std::string & _worldSolverType )

virtual

Set world step solver type.

Parameters

[in] _worldSolverType Type of solver used by world step.

virtual void gazebo::physics::ODEPhysics::UpdateCollision ( )

virtual

Update the physics engine collision.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::UpdatePhysics ( )

virtual

Update the physics engine.

Reimplemented from gazebo::physics::PhysicsEngine.

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

ODEPhysics.hh

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation