Public Member Functions | List of all members
gazebo::physics::SimbodyModel Class Reference

A model is a collection of links, joints, and plugins. More...

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::SimbodyModel:
Inheritance graph
[legend]

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...
 
gazebo::physics::JointPtr CreateJoint (const std::string &_name, const std::string &_type, physics::LinkPtr _parent, physics::LinkPtr _child)
 Create a joint for 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_VGetJoints () const
 Get the joints. More...
 
LinkPtr GetLink (const std::string &_name="canonical") const
 Get a link by name. More...
 
const Link_VGetLinks () 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...
 
ModelPtr NestedModel (const std::string &_name) const
 Get a nested model that is a direct child of this model. More...
 
const Model_VNestedModels () const
 Get all the nested models. More...
 
void ProcessMsg (const msgs::Model &_msg)
 Update parameters from a model message. More...
 
virtual void RemoveChild (EntityPtr _child)
 Remove a child. More...
 
bool RemoveJoint (const std::string &_name)
 Remove a joint for this model. More...
 
void Reset ()
 Reset the model. More...
 
void ResetPhysicsStates ()
 Reset the velocity, acceleration, force and torque of all child links. More...
 
ignition::math::Vector3d Scale () const
 Get the scale of model. 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) GAZEBO_DEPRECATED(7.0)
 Set the scale of model. More...
 
void SetScale (const ignition::math::Vector3d &_scale, const bool _publish=false)
 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...
 
boost::shared_ptr< Modelshared_from_this ()
 Allow Model class to share itself as a boost shared_ptr. More...
 
virtual void StopAnimation ()
 Stop the current animations. More...
 
virtual const sdf::ElementPtr UnscaledSDF ()
 
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::PoseGetDirtyPose () 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::PoseGetWorldPose () 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 WorldPtrGetWorld () 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< ModelPtrattachedModels
 used by Model::AttachStaticModel More...
 
std::vector< math::PoseattachedModelsOffset
 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::ConnectionPtrconnections
 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...
 
ignition::math::Vector3d 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...
 

Detailed Description

A model is a collection of links, joints, and plugins.

Constructor & Destructor Documentation

gazebo::physics::SimbodyModel::SimbodyModel ( BasePtr  _parent)
explicit

Constructor.

Parameters
[in]_parentParent object.
virtual gazebo::physics::SimbodyModel::~SimbodyModel ( )
virtual

Destructor.

Member Function Documentation

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

Initialize the model.

Reimplemented from gazebo::physics::Model.

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

Load the model.

Parameters
[in]_sdfSDF parameters to load from.

Reimplemented from gazebo::physics::Model.


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