Forward declarations for the common classes. More...

Namespaces
	client

	common
	Common namespace.

	event
	Event namespace.

	gui
	gui namespace

	math
	Math namespace.

	msgs
	Messages namespace.

	physics
	namespace for physics

	rendering
	Rendering namespace.

	sensors
	Sensors namespace.

	transport

	util

Classes
class	ActuatorPlugin
	Plugin for simulating a torque-speed curve for actuators. More...

class	ActuatorProperties
	Properties for a model of a rotational actuator. More...

class	ArrangePlugin

class	BreakableJointPlugin
	A plugin for breakable joints, based on a ForceTorque sensor plugin. More...

class	BuoyancyPlugin
	A plugin that simulates buoyancy of an object immersed in fluid. More...

class	CameraPlugin

class	CartDemoPlugin
	This plugin drives a four wheeled cart model forward and back by applying a small wheel torque. More...

class	CessnaGUIPlugin
	A GUI plugin that controls the Cessna model using the keyboard. More...

class	CessnaPlugin
	Allow moving the control surfaces of a Cessna C-172 plane. More...

class	ContactPlugin
	A plugin for a contact sensor. More...

class	DepthCameraPlugin

class	DiffDrivePlugin

class	ElevatorPlugin
	Plugin to control a elevator. More...

class	ElevatorPluginPrivate

class	EventSource
	The base class for emitting SimEvents. More...

class	ExistenceEventSource

class	ForceTorquePlugin
	An base class plugin for custom force torque sensor processing. More...

class	GpuRayPlugin

class	GUIPlugin
	A plugin loaded within the gzclient on startup. More...

class	HydraDemoPlugin

class	ImuSensorPlugin
	An base class plugin for custom imu sensor processing. More...

class	InitialVelocityPlugin

class	InRegionEventSource
	The event generator class. More...

class	JointTrajectoryPlugin

class	LiftDragPlugin
	A plugin that simulates lift and drag. More...

class	Master
	A manager that directs topic connections, enables each gazebo network client to locate one another for peer-to-peer communication. More...

class	ModelPlugin
	A plugin with access to physics::Model. More...

class	ModelPropShop
	This plugin will generate 5 pictures of a model: perspective, top, front, side, back. More...

class	MudPlugin

class	OccupiedEventSource
	A plugin that transmits a message when an in-region event occurs. More...

class	PluginT
	A class which all plugins must inherit from. More...

class	PressurePlugin
	A plugin for a tactile pressure sensor. More...

class	RandomVelocityPlugin
	Plugin that applies a random velocity to a linke periodically. More...

class	RandomVelocityPluginPrivate

class	RayPlugin
	A Ray Sensor Plugin. More...

class	RaySensorNoisePlugin
	A Ray Sensor Noise Plugin. More...

class	RazerHydra

class	Region
	A region, made of a list of boxes. More...

class	RestApi
	REST interface. More...

class	RestException

class	RestUiPlugin
	REST user interface plugin. More...

class	RestUiWidget
	REST user interface widget. More...

class	RestWebPlugin
	REST web plugin. More...

class	RubblePlugin

class	SensorPlugin
	A plugin with access to physics::Sensor. More...

class	Server

class	ServerFixture

class	SimEventConnector
	Gazebo events to detect model creation/deletion. More...

class	SimEventsException

class	SimEventsPlugin

class	SimStateEventSource
	SimEvent that fires when the simulation is paused/resumed. More...

class	SkidSteerDrivePlugin
	A gazebo model plugin that controls a four wheel skid-steer robot via a gazebo topic. More...

class	SonarPlugin
	A sonar sensor plugin. More...

class	SphereAtlasDemoPlugin

class	SystemPlugin
	A plugin loaded within the gzserver on startup. More...

class	TimerGUIPlugin
	A GUI plugin that displays a timer. More...

class	TransporterPlugin
	A plugin that allows models to transport (teleport) to a new location. More...

class	TransporterPluginPrivate

class	VehiclePlugin

class	VisualPlugin
	A plugin loaded within the gzserver on startup. More...

class	VolumeProperties
	A class for storing the volume properties of a link. More...

class	WorldPlugin
	A plugin with access to physics::World. More...

Typedefs
typedef boost::shared_ptr < EventSource >	EventSourcePtr

typedef boost::shared_ptr < GUIPlugin >	GUIPluginPtr

typedef boost::shared_ptr < ModelPlugin >	ModelPluginPtr

typedef std::shared_ptr< Region >	RegionPtr

typedef boost::shared_ptr < SensorPlugin >	SensorPluginPtr

typedef boost::shared_ptr < SystemPlugin >	SystemPluginPtr

typedef boost::shared_ptr < VisualPlugin >	VisualPluginPtr

typedef boost::shared_ptr < WorldPlugin >	WorldPluginPtr

Enumerations
enum	PluginType { WORLD_PLUGIN, MODEL_PLUGIN, SENSOR_PLUGIN, SYSTEM_PLUGIN, VISUAL_PLUGIN, GUI_PLUGIN }
	Used to specify the type of plugin. More...

Functions
GAZEBO_VISIBLE void	addPlugin (const std::string &_filename)
	Add a system plugin. More...

std::string	custom_exec (std::string _cmd)

GAZEBO_VISIBLE gazebo::physics::WorldPtr	loadWorld (const std::string &_worldFile)
	Create and load a new world from an SDF world file. More...

GAZEBO_VISIBLE void	printVersion ()
	Output version information to the terminal. More...

GAZEBO_VISIBLE void	runWorld (gazebo::physics::WorldPtr _world, unsigned int _iterations)
	Run a world for a specific number of iterations. More...

GAZEBO_VISIBLE bool	setupClient (int _argc=0, char **_argv=0) GAZEBO_DEPRECATED(6.0)
	Start a gazebo client. More...

GAZEBO_VISIBLE bool	setupClient (const std::vector< std::string > &_args) GAZEBO_DEPRECATED(6.0)
	Start a gazebo client. More...

GAZEBO_VISIBLE bool	setupServer (int _argc=0, char **_argv=0)
	Start a gazebo server. More...

GAZEBO_VISIBLE bool	setupServer (const std::vector< std::string > &_args)
	Start a gazebo server. More...

GAZEBO_VISIBLE bool	shutdown ()
	Stop and cleanup simulation. More...

Detailed Description

Forward declarations for the common classes.

Example SDF: <plugin name="actuator_plugin" filename="libActuatorPlugin.so"> <actuator> <name>actuator_0</name> <joint>JOINT_0</joint> <index>0</index> <type>electric_motor</type> <power>20</power> <max_velocity>6</max_velocity> <max_torque>10.0</max_torque> </actuator> </plugin> </model>

Forward declarations for the util classes.

Required fields:

name
joint
index (can be 0 in most cases)
type: current options are electric_motor, velocity_limiter or null Required for motor model electric_motor:
power
max_velocity
max_torque Required for motor model velocity_limiter:
max_velocity
max_torque

Typedef Documentation

typedef boost::shared_ptr<EventSource> gazebo::EventSourcePtr

typedef boost::shared_ptr<GUIPlugin> gazebo::GUIPluginPtr

typedef boost::shared_ptr<ModelPlugin> gazebo::ModelPluginPtr

typedef std::shared_ptr<Region> gazebo::RegionPtr

typedef boost::shared_ptr<SensorPlugin> gazebo::SensorPluginPtr

typedef boost::shared_ptr<SystemPlugin> gazebo::SystemPluginPtr

typedef boost::shared_ptr<VisualPlugin> gazebo::VisualPluginPtr

typedef boost::shared_ptr<WorldPlugin> gazebo::WorldPluginPtr

Function Documentation

GAZEBO_VISIBLE void gazebo::addPlugin ( const std::string & _filename )

Add a system plugin.

Parameters

[in] _filename Path to the plugin.

std::string gazebo::custom_exec ( std::string _cmd )

GAZEBO_VISIBLE gazebo::physics::WorldPtr gazebo::loadWorld ( const std::string & _worldFile )

Create and load a new world from an SDF world file.

Parameters

[in] _worldFile The world file to load from.

Returns: Pointer to the created world. NULL on error.

GAZEBO_VISIBLE void gazebo::printVersion ( )

Output version information to the terminal.

GAZEBO_VISIBLE void gazebo::runWorld	(	gazebo::physics::WorldPtr	_world,
		unsigned int	_iterations
	)

Run a world for a specific number of iterations.

Parameters

[in]	_world	Pointer to a world.
[in]	_iterations	Number of iterations to execute.

GAZEBO_VISIBLE bool gazebo::setupClient	(	int	_argc = `0`,
		char **	_argv = `0`
	)

Start a gazebo client.

This starts transportation, and makes it possible to connect to a running simulation.

Parameters

[in]	_argc	Number of commandline arguments.
[in]	_argv	The commandline arguments.

Returns: True on success.

See Also: gazebo_client.hh

GAZEBO_VISIBLE bool gazebo::setupClient ( const std::vector< std::string > & _args )

Start a gazebo client.

This starts transportation, and makes it possible to connect to a running simulation.

Parameters

[in] _args Vector of arguments only parsed by the system plugins. Note that when you run gazebo/gzserver, all the options (–version, –server-plugin, etc.) are parsed but when using Gazebo as a library, the arguments are only parsed by the system plugins.

See Also: gazebo::SystemPlugin::Load()

Returns: True on success.

See Also: gazebo_client.hh

GAZEBO_VISIBLE bool gazebo::setupServer	(	int	_argc = `0`,
		char **	_argv = `0`
	)

Start a gazebo server.

This starts transportation, and makes it possible to create worlds.

Parameters

[in]	_argc	Number of commandline arguments.
[in]	_argv	The commandline arguments.

Returns: True on success.

GAZEBO_VISIBLE bool gazebo::setupServer ( const std::vector< std::string > & _args )

Start a gazebo server.

This starts transportation, and makes it possible to create worlds.

Parameters

[in] _args Vector of arguments only parsed by the system plugins. Note that when you run gazebo/gzserver, all the options (–version, –server-plugin, etc.) are parsed but when using Gazebo as a library, the arguments are only parsed by the system plugins.

See Also: gazebo::SystemPlugin::Load()

Returns: True on success.

GAZEBO_VISIBLE bool gazebo::shutdown ( )

Stop and cleanup simulation.

Returns: True if the simulation is shutdown; false otherwise.

Referenced by gazebo::transport::Connection::ConnectToShutdown(), and gazebo::transport::Connection::DisconnectShutdown().

Namespaces

Classes

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

Function Documentation