Base class for all physics objects in Gazebo. More...

#include <physics/physics.hh>

Inherits Base.

Inherited by Collision, Light, Link, and Model.

Public Types
enum	EntityType { BASE = 0x00000000, ENTITY = 0x00000001, MODEL = 0x00000002, LINK = 0x00000004, COLLISION = 0x00000008, 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, ACTOR = 0x00008000, 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...

Public Member Functions
	Entity (BasePtr _parent)
	Constructor. More...

virtual	~Entity ()
	Destructor. More...

void	AddChild (BasePtr _child)
	Add a child to this entity. More...

void	AddType (EntityType _type)
	Add a type specifier. More...

virtual void	Fini ()
	Finalize the entity. More...

virtual math::Box	GetBoundingBox () const
	Return the bounding box for the entity. 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...

CollisionPtr	GetChildCollision (const std::string &_name)
	Get a child collision entity, if one exists. More...

unsigned int	GetChildCount () const
	Get the number of children. 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...

uint32_t	GetId () const
	Return the ID of this entity. More...

math::Pose	GetInitialRelativePose () const
	Get the initial relative pose. More...

std::string	GetName () const
	Return the name of the entity. More...

void	GetNearestEntityBelow (double &_distBelow, std::string &_entityName)
	Get the distance to the nearest entity below (along the Z-axis) this entity. More...

BasePtr	GetParent () const
	Get the parent. More...

int	GetParentId () const
	Return the ID of the parent. More...

ModelPtr	GetParentModel ()
	Get the parent model, if one exists. 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...

math::Pose	GetRelativePose () const
	Get the pose of the entity relative to its 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...

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...

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...

virtual const math::Pose &	GetWorldPose () const
	Get the absolute pose of the entity. More...

bool	HasType (const EntityType &_t) const
	Returns true if this object's type definition has the given type. More...

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

bool	IsCanonicalLink () const
	A helper function that checks if this is a canonical body. More...

bool	IsSelected () const
	True if the entity is selected by the user. More...

bool	IsStatic () const
	Return whether this entity is static. More...

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

bool	operator== (const Base &_ent) const
	Returns true if the entities are the same. 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	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 ()
	Reset the entity. More...

virtual void	Reset (Base::EntityType _resetType)
	Calls recursive Reset on one of the Base::EntityType's. 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	SetParent (BasePtr _parent)
	Set the parent. 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	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	SetStatic (const bool &_static)
	Set whether this entity is static: immovable. More...

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

std::string	TypeStr () const
	Get the string name for the entity type. More...

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

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

common::URI	URI () const
	Return the common::URI of this entity. More...

Protected Member Functions
void	ComputeScopedName ()
	Compute the scoped name of this object based on its parents. More...

virtual void	OnPoseChange ()=0
	This function is called when the entity's (or one of its parents) pose of the parent has changed. More...

Protected Attributes
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...

Base_V	children
	Children of this entity. 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...

BasePtr	parent
	Parent of this entity. 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...

sdf::ElementPtr	sdf
	The SDF values for this object. More...

transport::PublisherPtr	visPub
	Visual publisher. More...

msgs::Visual *	visualMsg
	Visual message container. More...

WorldPtr	world
	Pointer to the world. More...

math::Pose	worldPose
	World pose of the entity. More...

Detailed Description

Base class for all physics objects in Gazebo.

Member Enumeration Documentation

enum EntityType

inherited

Unique identifiers for all entity types.

Enumerator
BASE	Base type.
ENTITY	Entity type.
MODEL	Model type.
LINK	Link type.
COLLISION	Collision type.
LIGHT	Light type.
VISUAL	Visual type.
JOINT	Joint type.
BALL_JOINT	BallJoint type.
HINGE2_JOINT	Hing2Joint type.
HINGE_JOINT	HingeJoint type.
SLIDER_JOINT	SliderJoint type.
SCREW_JOINT	ScrewJoint type.
UNIVERSAL_JOINT	UniversalJoint type.
GEARBOX_JOINT	GearboxJoint type.
FIXED_JOINT	FixedJoint type.
ACTOR	Actor type.
SHAPE	Shape type.
BOX_SHAPE	BoxShape type.
CYLINDER_SHAPE	CylinderShape type.
HEIGHTMAP_SHAPE	HeightmapShape type.
MAP_SHAPE	MapShape type.
MULTIRAY_SHAPE	MultiRayShape type.
RAY_SHAPE	RayShape type.
PLANE_SHAPE	PlaneShape type.
SPHERE_SHAPE	SphereShape type.
MESH_SHAPE	MeshShape type.
POLYLINE_SHAPE	PolylineShape type.
SENSOR_COLLISION	Indicates a collision shape used for sensing.

Constructor & Destructor Documentation

Entity ( BasePtr _parent )

explicit

Constructor.

Parameters

[in] _parent Parent of the entity.

virtual ~Entity ( )

virtual

Destructor.

Member Function Documentation

void AddChild ( BasePtr _child )

inherited

Add a child to this entity.

Parameters

[in] _child Child entity.

void AddType ( EntityType _type )

inherited

Add a type specifier.

Parameters

[in] _type New type to append to this objects type definition.

void ComputeScopedName ( )

protectedinherited

Compute the scoped name of this object based on its parents.

See Also: Base::GetScopedName

virtual void Fini ( )

virtual

Finalize the entity.

Reimplemented from Base.

Reimplemented in Actor, Link, Model, DARTModel, BulletLink, DARTCollision, DARTLink, Collision, ODECollision, SimbodyLink, and ODELink.

virtual math::Box GetBoundingBox ( ) const

virtual

Return the bounding box for the entity.

Returns: The bounding box.

Reimplemented in Link, Model, Collision, BulletCollision, ODECollision, DARTCollision, and SimbodyCollision.

BasePtr GetByName ( const std::string & _name )

inherited

Get by name.

Parameters

[in] _name Get a child (or self) object by name

Returns: A pointer to the object, NULL if not found

BasePtr GetChild ( unsigned int _i ) const

inherited

Get a child by index.

Parameters

[in] _i Index of the child to retreive.

Returns: A pointer to the object, NULL if the index is invalid.

BasePtr GetChild ( const std::string & _name )

inherited

Get a child by name.

Parameters

[in] _name Name of the child.

Returns: A pointer to the object, NULL if not found

CollisionPtr GetChildCollision ( const std::string & _name )

Get a child collision entity, if one exists.

Parameters

[in] _name Name of the child collision object.

Returns: Pointer to the Collision object, or NULL if not found.

unsigned int GetChildCount ( ) const

inherited

Get the number of children.

Returns: The number of children.

LinkPtr GetChildLink ( const std::string & _name )

Get a child linke entity, if one exists.

Parameters

[in] _name Name of the child Link object.

Returns: Pointer to the Link object, or NULL if not found.

math::Box GetCollisionBoundingBox ( ) const

Returns collision bounding box.

Returns: Collsiion boundin box.

const math::Pose& GetDirtyPose ( ) const

Returns Entity::dirtyPose.

The dirty pose is the pose set by the physics engine before it's value is propagated to the rest of the simulator.

Returns: The dirty pose of the entity.

uint32_t GetId ( ) const

inherited

Return the ID of this entity.

This id is unique.

Returns: Integer ID.

math::Pose GetInitialRelativePose ( ) const

Get the initial relative pose.

Returns: The initial relative pose.

std::string GetName ( ) const

inherited

Return the name of the entity.

Returns: Name of the entity.

void GetNearestEntityBelow	(	double &	_distBelow,
		std::string &	_entityName
	)

Get the distance to the nearest entity below (along the Z-axis) this entity.

Parameters

[out]	_distBelow	The distance to the nearest entity below.
[out]	_entityName	The name of the nearest entity below.

BasePtr GetParent ( ) const

inherited

Get the parent.

Returns: Pointer to the parent entity.

int GetParentId ( ) const

inherited

Return the ID of the parent.

Returns: Integer ID.

ModelPtr GetParentModel ( )

Get the parent model, if one exists.

Returns: Pointer to a model, or NULL if no parent model exists.

virtual math::Vector3 GetRelativeAngularAccel ( ) const

inlinevirtual

Get the angular acceleration of the entity.

Returns: A math::Vector3 for the acceleration.

Reimplemented in Link, Model, and Collision.

virtual math::Vector3 GetRelativeAngularVel ( ) const

inlinevirtual

Get the angular velocity of the entity.

Returns: A math::Vector3 for the velocity.

Reimplemented in Link, Model, and Collision.

virtual math::Vector3 GetRelativeLinearAccel ( ) const

inlinevirtual

Get the linear acceleration of the entity.

Returns: A math::Vector3 for the acceleration.

Reimplemented in Link, Model, and Collision.

virtual math::Vector3 GetRelativeLinearVel ( ) const

inlinevirtual

Get the linear velocity of the entity.

Returns: A math::Vector3 for the linear velocity.

Reimplemented in Link, Model, and Collision.

math::Pose GetRelativePose ( ) const

Get the pose of the entity relative to its parent.

Returns: The pose of the entity relative to its parent.

bool GetSaveable ( ) const

inherited

Get whether the object should be "saved", when the user selects to save the world to xml.

Returns: True if the object is saveable.

std::string GetScopedName ( bool _prependWorldName = false ) const

inherited

Return the name of this entity with the model scope model1::...::modelN::entityName.

Parameters

[in] _prependWorldName True to prended the returned string with the world name. The result will be world::model1::...::modelN::entityName.

Returns: The scoped name.

virtual const sdf::ElementPtr GetSDF ( )

virtualinherited

Get the SDF values for the object.

Returns: The SDF values for the object.

Reimplemented in Actor, and Model.

unsigned int GetType ( ) const

inherited

Get the full type definition.

Returns: The full type definition.

const WorldPtr& GetWorld ( ) const

inherited

Get the World this object is in.

Returns: The World this object is part of.

virtual math::Vector3 GetWorldAngularAccel ( ) const

inlinevirtual

Get the angular acceleration of the entity in the world frame.

Returns: A math::Vector3 for the acceleration.

Reimplemented in Link, Collision, and Model.

virtual math::Vector3 GetWorldAngularVel ( ) const

inlinevirtual

Get the angular velocity of the entity in the world frame.

Returns: A math::Vector3 for the velocity.

Reimplemented in Model, Collision, ODELink, DARTLink, BulletLink, and SimbodyLink.

virtual math::Vector3 GetWorldLinearAccel ( ) const

inlinevirtual

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

Returns: A math::Vector3 for the acceleration.

Reimplemented in Link, Model, and Collision.

virtual math::Vector3 GetWorldLinearVel ( ) const

inlinevirtual

Get the linear velocity of the entity in the world frame.

Returns: A math::Vector3 for the linear velocity.

Reimplemented in Link, Model, and Collision.

virtual const math::Pose& GetWorldPose ( ) const

inlinevirtual

Get the absolute pose of the entity.

Returns: The absolute pose of the entity.

Reimplemented in Collision.

References Entity::worldPose.

bool HasType ( const EntityType & _t ) const

inherited

Returns true if this object's type definition has the given type.

Parameters

[in] _t Type to check.

Returns: True if this object's type definition has the.

virtual void Init ( )

inlinevirtualinherited

Initialize the object.

Reimplemented in BulletJoint, RayShape, Joint, GearboxJoint< ODEJoint >, ScrewJoint< ODEJoint >, ScrewJoint< DARTJoint >, ScrewJoint< SimbodyJoint >, ScrewJoint< BulletJoint >, Actor, Link, UniversalJoint< ODEJoint >, UniversalJoint< DARTJoint >, UniversalJoint< SimbodyJoint >, UniversalJoint< BulletJoint >, Model, BallJoint< ODEJoint >, BallJoint< DARTJoint >, BallJoint< SimbodyJoint >, BallJoint< BulletJoint >, BulletScrewJoint, MultiRayShape, MapShape, HeightmapShape, Collision, HingeJoint< ODEJoint >, HingeJoint< DARTJoint >, HingeJoint< SimbodyJoint >, HingeJoint< BulletJoint >, Shape, BulletHinge2Joint, DARTScrewJoint, FixedJoint< ODEJoint >, FixedJoint< DARTJoint >, FixedJoint< SimbodyJoint >, FixedJoint< BulletJoint >, BulletLink, DARTJoint, MeshShape, SphereShape, BulletBallJoint, CylinderShape, DARTModel, Road, DARTCollision, DARTLink, BulletFixedJoint, BulletHeightmapShape, BulletHingeJoint, BulletSliderJoint, BulletUniversalJoint, ODEGearboxJoint, PlaneShape, SimbodyLink, ODEHeightmapShape, ODELink, DARTFixedJoint, DARTHeightmapShape, DARTHinge2Joint, DARTHingeJoint, DARTMeshShape, PolylineShape, BoxShape, DARTPolylineShape, DARTUniversalJoint, ODEMeshShape, SimbodyMeshShape, BulletMeshShape, BulletPolylineShape, DARTBallJoint, DARTSliderJoint, ODEPolylineShape, SimbodyHeightmapShape, SimbodyModel, SimbodyPolylineShape, and Light.

bool IsCanonicalLink ( ) const

inline

A helper function that checks if this is a canonical body.

Returns: True if the link is canonical.

bool IsSelected ( ) const

inherited

True if the entity is selected by the user.

Returns: True if the entity is selected.

bool IsStatic ( ) const

Return whether this entity is static.

Returns: True if static.

virtual void Load ( sdf::ElementPtr _sdf )

virtual

Load the entity.

Parameters

[in] _sdf Pointer to an SDF element.

Reimplemented from Base.

Reimplemented in Actor, Link, Model, BulletCollision, Collision, BulletLink, ODECollision, DARTModel, SimbodyCollision, DARTCollision, DARTLink, SimbodyLink, ODELink, and SimbodyModel.

virtual void OnPoseChange ( )

protectedpure virtual

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

Implemented in Link, Model, ODECollision, BulletCollision, BulletLink, DARTCollision, DARTLink, SimbodyLink, ODELink, Light, and SimbodyCollision.

bool operator== ( const Base & _ent ) const

inherited

Returns true if the entities are the same.

Checks only the name.

Parameters

[in] _ent Base object to compare with.

Returns: True if the entities are the same.

void PlaceOnEntity ( const std::string & _entityName )

Move this entity to be ontop of another entity by name.

Parameters

[in] _entityName Name of the Entity this Entity should be ontop of.

void PlaceOnNearestEntityBelow ( )

Move this entity to be ontop of the nearest entity below.

void Print ( const std::string & _prefix )

inherited

Print this object to screen via gzmsg.

Parameters

[in] _prefix Usually a set of spaces.

virtual void RemoveChild ( unsigned int _id )

virtualinherited

Remove a child from this entity.

Parameters

[in] _id ID of the child to remove.

void RemoveChild ( const std::string & _name )

inherited

Remove a child by name.

Parameters

[in] _name Name of the child.

void RemoveChildren ( )

inherited

Remove all children.

virtual void Reset ( )

virtual

Reset the entity.

Reimplemented from Base.

Reimplemented in Model, and Link.

virtual void Reset ( Base::EntityType _resetType )

virtualinherited

Calls recursive Reset on one of the Base::EntityType's.

Parameters

[in] _resetType The type of reset operation

void SetAnimation	(	const common::PoseAnimationPtr &	_anim,
		boost::function< void()>	_onComplete
	)

Set an animation for this entity.

Parameters

[in]	_anim	Pose animation.
[in]	_onComplete	Callback for when the animation completes.

void SetAnimation ( common::PoseAnimationPtr _anim )

Set an animation for this entity.

Parameters

[in] _anim Pose animation.

void SetCanonicalLink ( bool _value )

Set to true if this entity is a canonical link for a model.

Parameters

[in] _value True if the link is canonical.

void SetInitialRelativePose ( const math::Pose & _pose )

Set the initial pose.

Parameters

[in] _pose The initial pose.

virtual void SetName ( const std::string & _name )

virtual

Set the name of the entity.

Parameters

[in] _name The new name.

Reimplemented from Base.

void SetParent ( BasePtr _parent )

inherited

Set the parent.

Parameters

[in] _parent Parent object.

void SetRelativePose	(	const math::Pose &	_pose,
		bool	_notify = `true`,
		bool	_publish = `true`
	)

Set the pose of the entity relative to its parent.

Parameters

[in]	_pose	The new pose.
[in]	_notify	True = tell children of the pose change.
[in]	_publish	True to publish the pose.

void SetSaveable ( bool _v )

inherited

Set whether the object should be "saved", when the user selects to save the world to xml.

Parameters

[in] _v Set to True if the object should be saved.

virtual bool SetSelected ( bool _show )

virtualinherited

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

Parameters

[in] _show True to set this entity as selected.

Reimplemented in Link.

void SetStatic ( const bool & _static )

Set whether this entity is static: immovable.

Parameters

[in] _static True = static.

void SetWorld ( const WorldPtr & _newWorld )

inherited

Set the world this object belongs to.

This will also set the world for all children.

Parameters

[in] _newWorld The new World this object is part of.

void SetWorldPose	(	const math::Pose &	_pose,
		bool	_notify = `true`,
		bool	_publish = `true`
	)

Set the world pose of the entity.

Parameters

[in]	_pose	The new world pose.
[in]	_notify	True = tell children of the pose change.
[in]	_publish	True to publish the pose.

void SetWorldTwist	(	const math::Vector3 &	_linear,
		const math::Vector3 &	_angular,
		bool	_updateChildren = `true`
	)

Set angular and linear rates of an physics::Entity.

Parameters

[in]	_linear	Linear twist.
[in]	_angular	Angular twist.
[in]	_updateChildren	True to pass this update to child entities.

virtual void StopAnimation ( )

virtual

Stop the current animation, if any.

Reimplemented in Model.

std::string TypeStr ( ) const

inherited

Get the string name for the entity type.

Returns: The string name for this entity.

virtual void Update ( )

inlinevirtualinherited

Update the object.

Reimplemented in MultiRayShape, Joint, Actor, RayShape, Model, ODERayShape, DARTModel, MapShape, DARTRayShape, DARTMeshShape, MeshShape, BulletRayShape, ODEMeshShape, ODEPolylineShape, and SimbodyRayShape.

virtual void UpdateParameters ( sdf::ElementPtr _sdf )

virtual

Update the parameters using new sdf values.

Parameters

[in] _sdf SDF to update from.

Reimplemented from Base.

Reimplemented in Actor, Link, Model, and Collision.

common::URI URI ( ) const

inherited

Return the common::URI of this entity.

The URI includes the world where the entity is contained and all the hierarchy of sub-entities that can compose this entity. E.g.: A link entity contains the name of the link and the model where the link is contained.