A model is a collection of links, joints, and plugins. More...
#include <physics/physics.hh>
Public Member Functions | |
| SimbodyModel (BasePtr _parent) | |
| Constructor. More... | |
| virtual | ~SimbodyModel () |
| Destructor. More... | |
| virtual void | Init () |
| Initialize the model. More... | |
| virtual void | Load (sdf::ElementPtr _sdf) |
| Load the model. 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... | |
| virtual void | Fini () |
| Finalize the model. 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... | |
| virtual const sdf::ElementPtr | GetSDF () |
| Get the SDF values for the model. 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 | 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... | |
| 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... | |
| 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... | |
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... | |
| 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... | |
A model is a collection of links, joints, and plugins.
|
explicit |
Constructor.
| [in] | _parent | Parent object. |
|
virtual |
Destructor.
|
virtual |
Initialize the model.
Reimplemented from gazebo::physics::Model.
|
virtual |
Load the model.
| [in] | _sdf | SDF parameters to load from. |
Reimplemented from gazebo::physics::Model.