Link class defines a rigid body entity, containing information on inertia, visual and collision properties of a rigid body. More...

#include <physics/physics.hh>

Inherits Entity.

Inherited by BulletLink, DARTLink, ODELink, and SimbodyLink.

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
	Link (EntityPtr _parent)
	Constructor. More...

virtual	~Link ()
	Destructor. More...

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

void	AddChildJoint (JointPtr _joint)
	Joints that have this Link as a parent Link. More...

virtual void	AddForce (const math::Vector3 &_force)=0
	Add a force to the body. More...

virtual void	AddForceAtRelativePosition (const math::Vector3 &_force, const math::Vector3 &_relPos)=0
	Add a force to the body at position expressed to the body's own frame of reference. More...

virtual void	AddForceAtWorldPosition (const math::Vector3 &_force, const math::Vector3 &_pos)=0
	Add a force to the body using a global position. More...

virtual void	AddLinkForce (const math::Vector3 &_force, const math::Vector3 &_offset=math::Vector3::Zero)=0
	Add a force expressed in the link frame. More...

void	AddParentJoint (JointPtr _joint)
	Joints that have this Link as a child Link. More...

virtual void	AddRelativeForce (const math::Vector3 &_force)=0
	Add a force to the body, components are relative to the body's own frame of reference. More...

virtual void	AddRelativeTorque (const math::Vector3 &_torque)=0
	Add a torque to the body, components are relative to the body's own frame of reference. More...

virtual void	AddTorque (const math::Vector3 &_torque)=0
	Add a torque to the body. More...

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

void	AttachStaticModel (ModelPtr &_model, const math::Pose &_offset)
	Attach a static model to this link. More...

common::BatteryPtr	Battery (const std::string &_name) const
	Get a battery by name. More...

common::BatteryPtr	Battery (const size_t _index) const
	Get a battery based on an index. More...

size_t	BatteryCount () const
	Get the number of batteries in this link. More...

template<typename T >
event::ConnectionPtr	ConnectEnabled (T _subscriber)
	Connect to the add entity signal. More...

void	DetachAllStaticModels ()
	Detach all static models from this link. More...

void	DetachStaticModel (const std::string &_modelName)
	Detach a static model from this link. More...

void	DisconnectEnabled (event::ConnectionPtr &_conn)
	Disconnect to the add entity signal. More...

void	FillMsg (msgs::Link &_msg)
	Fill a link message. More...

bool	FindAllConnectedLinksHelper (const LinkPtr &_originalParentLink, Link_V &_connectedLinks, bool _fistLink=false)
	Helper function to find all connected links of a link based on parent/child relations of joints. More...

void	Fini ()
	Finalize the body. More...

double	GetAngularDamping () const
	Get the angular damping factor. More...

virtual math::Box	GetBoundingBox () const
	Get the bounding box for the link and all the child elements. 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...

Joint_V	GetChildJoints () const
	Get the child joints. More...

Link_V	GetChildJointsLinks () const
	Returns a vector of children Links connected by joints. More...

LinkPtr	GetChildLink (const std::string &_name)
	Get a child linke entity, if one exists. More...

CollisionPtr	GetCollision (const std::string &_name)
	Get a child collision by name. More...

CollisionPtr	GetCollision (unsigned int _index) const
	Get a child collision by index. More...

math::Box	GetCollisionBoundingBox () const
	Returns collision bounding box. More...

Collision_V	GetCollisions () const
	Get all the child collisions. More...

const math::Pose &	GetDirtyPose () const
	Returns Entity::dirtyPose. More...

virtual bool	GetEnabled () const =0
	Get whether this body is enabled in the physics engine. More...

virtual bool	GetGravityMode () const =0
	Get the gravity mode. More...

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

InertialPtr	GetInertial () const
	Get the inertia of the link. More...

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

virtual bool	GetKinematic () const
	Implement this function. More...

double	GetLinearDamping () const
	Get the linear damping factor. More...

ModelPtr	GetModel () const
	Get the model that this body belongs to. 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...

Joint_V	GetParentJoints () const
	Get the parent joints. More...

Link_V	GetParentJointsLinks () const
	Returns a vector of parent Links connected by joints. More...

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

math::Vector3	GetRelativeAngularAccel () const
	Get the angular acceleration of the body. More...

math::Vector3	GetRelativeAngularVel () const
	Get the angular velocity of the body. More...

math::Vector3	GetRelativeForce () const
	Get the force applied to the body. More...

math::Vector3	GetRelativeLinearAccel () const
	Get the linear acceleration of the body. More...

math::Vector3	GetRelativeLinearVel () const
	Get the linear velocity of the body. More...

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

math::Vector3	GetRelativeTorque () const
	Get the torque applied to the body. 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...

bool	GetSelfCollide () const
	Get Self-Collision Flag. More...

unsigned int	GetSensorCount () const
	Get sensor count. More...

std::string	GetSensorName (unsigned int _index) const
	Get sensor name. More...

unsigned int	GetType () const
	Get the full type definition. More...

msgs::Visual	GetVisualMessage (const std::string &_name) const
	Returns the visual message specified by its name. More...

const WorldPtr &	GetWorld () const
	Get the World this object is in. More...

math::Vector3	GetWorldAngularAccel () const
	Get the angular acceleration of the body in the world frame, which is computed as (I^-1 * (T - w x L)), where I: inertia matrix in world frame T: sum of external torques in world frame L: angular momentum of CoG in world frame w: angular velocity in world frame. More...

math::Vector3	GetWorldAngularMomentum () const
	Get the angular momentum of the body CoG in the world frame, which is computed as (I * w), where I: inertia matrix in world frame w: angular velocity in world frame. More...

virtual math::Vector3	GetWorldAngularVel () const
	Get the angular velocity of the entity in the world frame. More...

virtual math::Vector3	GetWorldCoGLinearVel () const =0
	Get the linear velocity at the body's center of gravity in the world frame. More...

math::Pose	GetWorldCoGPose () const
	Get the pose of the body's center of gravity in the world coordinate frame. More...

double	GetWorldEnergy () const
	Returns this link's total energy, or sum of Link::GetWorldEnergyPotential() and Link::GetWorldEnergyKinetic(). More...

double	GetWorldEnergyKinetic () const
	Returns this link's kinetic energy computed using link's CoG velocity in the inertial (world) frame. More...

double	GetWorldEnergyPotential () const
	Returns this link's potential energy, based on position in world frame and gravity. More...

virtual math::Vector3	GetWorldForce () const =0
	Get the force applied to the body in the world frame. More...

math::Pose	GetWorldInertialPose () const
	Get the world pose of the link inertia (cog position and Moment of Inertia frame). More...

math::Matrix3	GetWorldInertiaMatrix () const
	Get the inertia matrix in the world frame. More...

math::Vector3	GetWorldLinearAccel () const
	Get the linear acceleration of the body in the world frame. More...

virtual math::Vector3	GetWorldLinearVel () const
	Get the linear velocity of the origin of the link frame, expressed in the world frame. More...

virtual math::Vector3	GetWorldLinearVel (const math::Vector3 &_offset) const =0
	Get the linear velocity of a point on the body in the world frame, using an offset expressed in a body-fixed frame. More...

virtual math::Vector3	GetWorldLinearVel (const math::Vector3 &_offset, const math::Quaternion &_q) const =0
	Get the linear velocity of a point on the body in the world frame, using an offset expressed in an arbitrary frame. More...

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

virtual math::Vector3	GetWorldTorque () const =0
	Get the torque applied to the body in the world frame. 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 body. 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 body based on an SDF element. More...

void	MoveFrame (const math::Pose &_worldReferenceFrameSrc, const math::Pose &_worldReferenceFrameDst)
	Move Link given source and target frames specified in world coordinates. More...

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

void	ProcessMsg (const msgs::Link &_msg)
	Update parameters from a message. More...

const ignition::math::Vector3d	RelativeWindLinearVel () const
	Returns this link's wind velocity. 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...

virtual void	RemoveChild (EntityPtr _child)

void	RemoveChildJoint (const std::string &_jointName)
	Remove Joints that have this Link as a parent Link. More...

void	RemoveChildren ()
	Remove all children. More...

void	RemoveCollision (const std::string &_name)
	Remove a collision from the link. More...

void	RemoveParentJoint (const std::string &_jointName)
	Remove Joints that have this Link as a child Link. More...

void	Reset ()
	Reset the link. More...

virtual void	Reset (Base::EntityType _resetType)
	Calls recursive Reset on one of the Base::EntityType's. More...

void	ResetPhysicsStates ()
	Reset the velocity, acceleration, force and torque of link. More...

void	SetAngularAccel (const math::Vector3 &_accel)
	Set the angular acceleration of the body. More...

virtual void	SetAngularDamping (double _damping)=0
	Set the angular damping factor. More...

virtual void	SetAngularVel (const math::Vector3 &_vel)=0
	Set the angular velocity of the body. 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...

virtual void	SetAutoDisable (bool _disable)=0
	Allow the link to auto disable. More...

void	SetCanonicalLink (bool _value)
	Set to true if this entity is a canonical link for a model. More...

void	SetCollideMode (const std::string &_mode)
	Set the collide mode of the body. More...

virtual void	SetEnabled (bool _enable) const =0
	Set whether this body is enabled. More...

virtual void	SetForce (const math::Vector3 &_force)=0
	Set the force applied to the body. More...

virtual void	SetGravityMode (bool _mode)=0
	Set whether gravity affects this body. More...

void	SetInertial (const InertialPtr &_inertial)
	Set the mass of the link. More...

void	SetInitialRelativePose (const math::Pose &_pose)
	Set the initial pose. More...

virtual void	SetKinematic (const bool &_kinematic)
	Implement this function. More...

void	SetLaserRetro (float _retro)
	Set the laser retro reflectiveness. More...

void	SetLinearAccel (const math::Vector3 &_accel)
	Set the linear acceleration of the body. More...

virtual void	SetLinearDamping (double _damping)=0
	Set the linear damping factor. More...

virtual void	SetLinearVel (const math::Vector3 &_vel)=0
	Set the linear velocity of the body. More...

virtual void	SetLinkStatic (bool _static)=0
	Freeze link to ground (inertial frame). More...

virtual void	SetName (const std::string &_name)
	Set the name of the entity. More...

void	SetParent (BasePtr _parent)
	Set the parent. More...

void	SetPublishData (bool _enable)
	Enable/Disable link data publishing. 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...

void	SetScale (const math::Vector3 &_scale)
	Set the scale of the link. More...

virtual bool	SetSelected (bool _set)
	Set whether this entity has been selected by the user through the gui. More...

virtual void	SetSelfCollide (bool _collide)=0
	Set whether this body will collide with others in the model. More...

void	SetState (const LinkState &_state)
	Set the current link state. More...

void	SetStatic (const bool &_static)
	Set whether this entity is static: immovable. More...

virtual void	SetTorque (const math::Vector3 &_torque)=0
	Set the torque applied to the body. More...

bool	SetVisualPose (const uint32_t _id, const ignition::math::Pose3d &_pose)
	Set the pose of a visual. More...

void	SetWindEnabled (const bool _enable)
	Enable/disable wind for this link. More...

virtual void	SetWindMode (const bool _mode)
	Set whether wind affects this body. 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...

void	Update (const common::UpdateInfo &_info)
	Update the collision. More...

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

virtual void	UpdateMass ()
	Update the mass matrix. More...

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

virtual void	UpdateSurface ()
	Update surface parameters. More...

void	UpdateWind (const common::UpdateInfo &_info)
	Update the wind. More...

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

bool	VisualId (const std::string &_visName, uint32_t &_visualId) const
	Get the unique ID of a visual. More...

bool	VisualPose (const uint32_t _id, ignition::math::Pose3d &_pose) const
	Get the pose of a visual. More...

virtual bool	WindMode () const
	Get the wind mode. More...

const ignition::math::Vector3d	WorldWindLinearVel () const
	Returns this link's wind velocity in the world coordinate frame. More...

Protected Types
typedef std::map< uint32_t, msgs::Visual >	Visuals_M

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

Protected Attributes
math::Vector3	angularAccel
	Angular acceleration. More...

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< math::Pose >	attachedModelsOffset
	Offsets for the attached models. More...

std::vector< std::string >	cgVisuals
	Center of gravity visual elements. 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...

InertialPtr	inertial
	Inertial properties. More...

bool	initialized
	This flag is set to true when the link is initialized. More...

math::Vector3	linearAccel
	Linear acceleration. 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...

Visuals_M	visuals
	Link visual elements. More...

WorldPtr	world
	Pointer to the world. More...

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

Detailed Description

Link class defines a rigid body entity, containing information on inertia, visual and collision properties of a rigid body.

Member Typedef Documentation

typedef std::map<uint32_t, msgs::Visual> Visuals_M

protected

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

Link ( EntityPtr _parent )

explicit

Constructor.

Parameters

[in] _parent Parent of this link.

virtual ~Link ( )

virtual

Destructor.

Member Function Documentation

void AddChild ( BasePtr _child )

inherited

Add a child to this entity.

Parameters

[in] _child Child entity.

void AddChildJoint ( JointPtr _joint )

Joints that have this Link as a parent Link.

Parameters

[in] _joint Joint that is a child of this link.

virtual void AddForce ( const math::Vector3 & _force )

pure virtual

Add a force to the body.

Parameters

[in] _force Force to add.

Implemented in BulletLink, SimbodyLink, ODELink, and DARTLink.

virtual void AddForceAtRelativePosition	(	const math::Vector3 &	_force,
		const math::Vector3 &	_relPos
	)

pure virtual

Add a force to the body at position expressed to the body's own frame of reference.

Parameters

[in]	_force	Force to add.
[in]	_relPos	Position on the link to add the force.

Implemented in BulletLink, SimbodyLink, ODELink, and DARTLink.

virtual void AddForceAtWorldPosition	(	const math::Vector3 &	_force,
		const math::Vector3 &	_pos
	)

pure virtual

Add a force to the body using a global position.

Parameters

[in]	_force	Force to add.
[in]	_pos	Position in global coord frame to add the force.

Implemented in BulletLink, SimbodyLink, ODELink, and DARTLink.

virtual void AddLinkForce	(	const math::Vector3 &	_force,
		const math::Vector3 &	_offset = `math::Vector3::Zero`
	)

pure virtual

Add a force expressed in the link frame.

Parameters

[in]	_force	Direction vector expressed in the link frame. Each component corresponds to the force which will be added in that axis and the vector's magnitude corresponds to the total force.
[in]	_offset	Offset position expressed in the link frame. It defaults to the link origin.

Implemented in BulletLink, SimbodyLink, ODELink, and DARTLink.

void AddParentJoint ( JointPtr _joint )

Joints that have this Link as a child Link.

Parameters

[in] _joint Joint that is a parent of this link.

virtual void AddRelativeForce ( const math::Vector3 & _force )

pure virtual

Add a force to the body, components are relative to the body's own frame of reference.

Parameters

[in] _force Force to add.

Implemented in BulletLink, SimbodyLink, ODELink, and DARTLink.

virtual void AddRelativeTorque ( const math::Vector3 & _torque )

pure virtual

Add a torque to the body, components are relative to the body's own frame of reference.

Parameters

[in] _torque Torque value to add.

Implemented in BulletLink, SimbodyLink, ODELink, and DARTLink.

virtual void AddTorque ( const math::Vector3 & _torque )

pure virtual

Add a torque to the body.

Parameters

[in] _torque Torque value to add to the link.

Implemented in BulletLink, SimbodyLink, ODELink, and DARTLink.

void AddType ( EntityType _type )

inherited

Add a type specifier.

Parameters

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

void AttachStaticModel	(	ModelPtr &	_model,
		const math::Pose &	_offset
	)

Attach a static model to this link.

Parameters

[in]	_model	Pointer to a static model.
[in]	_offset	Pose relative to this link to place the model.

common::BatteryPtr Battery ( const std::string & _name ) const

Get a battery by name.

Parameters

[in] _name Name of the battery to get.

Returns: Pointer to the battery, NULL if the name is invalid.

common::BatteryPtr Battery ( const size_t _index ) const

Get a battery based on an index.

Returns: A pointer to a Battery. Null if the _index is invalid.

size_t BatteryCount ( ) const

Get the number of batteries in this link.

Returns: Size of this->batteries array.

See Also: Link::Battery()

void ComputeScopedName ( )

protectedinherited

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

See Also: Base::GetScopedName

event::ConnectionPtr ConnectEnabled ( T _subscriber )

inline

Connect to the add entity signal.

Parameters

[in] _subscriber Subsciber callback function.

Returns: Pointer to the connection, which must be kept in scope.

References EventT< T >::Connect().

void DetachAllStaticModels ( )

Detach all static models from this link.

void DetachStaticModel ( const std::string & _modelName )

Detach a static model from this link.

Parameters

[in] _modelName Name of an attached model to detach.

void DisconnectEnabled ( event::ConnectionPtr & _conn )

inline

Disconnect to the add entity signal.

Parameters

[in] _conn Connection pointer to disconnect.

References EventT< T >::Disconnect().

void FillMsg ( msgs::Link & _msg )

Fill a link message.

Parameters

[out] _msg Message to fill

bool FindAllConnectedLinksHelper	(	const LinkPtr &	_originalParentLink,
		Link_V &	_connectedLinks,
		bool	_fistLink = `false`
	)

Helper function to find all connected links of a link based on parent/child relations of joints.

For example, if Link0 –> Link1 –> ... –> LinkN is a kinematic chain with Link0 being the base link. Then, call by Link1: Link1->FindAllConnectedLinksHelper(Link0, _list, true); should return true with _list containing Link1 through LinkN. In the case the _originalParentLink is part of a loop, _connectedLinks is cleared and the function returns false.

Parameters

[in]	_originParentLink	if this link is a child link of the search, we've found a loop.
	in/out]	_connectedLinks aggregate list of connected links.
[in]	_fistLink	this is the first Link, skip over the parent link that matches the _originalParentLink.

Returns: true if successfully found a subset of connected links

void Fini ( )

virtual

Finalize the body.

Reimplemented from Entity.

Reimplemented in SimbodyLink, and ODELink.

double GetAngularDamping ( ) const

Get the angular damping factor.

Returns: Angular damping.

virtual math::Box GetBoundingBox ( ) const

virtual

Get the bounding box for the link and all the child elements.

Returns: The link's bounding box.

Reimplemented from Entity.

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 )

inherited

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.

Joint_V GetChildJoints ( ) const

Get the child joints.

Link_V GetChildJointsLinks ( ) const

Returns a vector of children Links connected by joints.

Returns: A vector of children Links connected by joints.

LinkPtr GetChildLink ( const std::string & _name )

inherited

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.

CollisionPtr GetCollision ( const std::string & _name )

Get a child collision by name.

Parameters

[in] _name Name of the collision object.

Returns: Pointer to the collision, NULL if the name was not found.

CollisionPtr GetCollision ( unsigned int _index ) const

Get a child collision by index.

Parameters

[in] _index Index of the collision object.

Returns: Pointer to the collision, NULL if the name was not found.

math::Box GetCollisionBoundingBox ( ) const

inherited

Returns collision bounding box.

Returns: Collsiion boundin box.

Collision_V GetCollisions ( ) const

Get all the child collisions.

Returns: A std::vector of all the child collisions.

const math::Pose& GetDirtyPose ( ) const

inherited

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.

virtual bool GetEnabled ( ) const

pure virtual

Get whether this body is enabled in the physics engine.

Returns: True if the link is enabled.

Implemented in BulletLink, DARTLink, SimbodyLink, and ODELink.

virtual bool GetGravityMode ( ) const

pure virtual

Get the gravity mode.

Returns: True if gravity is enabled.

Implemented in ODELink, DARTLink, BulletLink, and SimbodyLink.

uint32_t GetId ( ) const

inherited

Return the ID of this entity.

This id is unique.

Returns: Integer ID.

InertialPtr GetInertial ( ) const

inline

Get the inertia of the link.

Returns: Inertia of the link.

References Link::inertial.

math::Pose GetInitialRelativePose ( ) const

inherited

Get the initial relative pose.

Returns: The initial relative pose.

virtual bool GetKinematic ( ) const

inlinevirtual

Implement this function.

Get whether this body is in the kinematic state.

Returns: True if the link is kinematic only.

Reimplemented in ODELink, and DARTLink.

double GetLinearDamping ( ) const

Get the linear damping factor.

Returns: Linear damping.

ModelPtr GetModel ( ) const

Get the model that this body belongs to.

Returns: Model that this body belongs to.

std::string GetName ( ) const

inherited

Return the name of the entity.

Returns: Name of the entity.

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

inherited

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.

Joint_V GetParentJoints ( ) const

Get the parent joints.

Link_V GetParentJointsLinks ( ) const

Returns a vector of parent Links connected by joints.

Returns: Vector of parent Links connected by joints.

ModelPtr GetParentModel ( )

inherited

Get the parent model, if one exists.

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

math::Vector3 GetRelativeAngularAccel ( ) const

virtual

Get the angular acceleration of the body.

Returns: Angular acceleration of the body.

Reimplemented from Entity.

math::Vector3 GetRelativeAngularVel ( ) const

virtual

Get the angular velocity of the body.

Returns: Angular velocity of the body.

Reimplemented from Entity.

math::Vector3 GetRelativeForce ( ) const

Get the force applied to the body.

Returns: Force applied to the body.

math::Vector3 GetRelativeLinearAccel ( ) const

virtual

Get the linear acceleration of the body.

Returns: Linear acceleration of the body.

Reimplemented from Entity.

math::Vector3 GetRelativeLinearVel ( ) const

virtual

Get the linear velocity of the body.

Returns: Linear velocity of the body.

Reimplemented from Entity.

math::Pose GetRelativePose ( ) const

inherited

Get the pose of the entity relative to its parent.

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

math::Vector3 GetRelativeTorque ( ) const

Get the torque applied to the body.

Returns: Torque applied to the body.

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.

bool GetSelfCollide ( ) const

Get Self-Collision Flag.

Two links within the same model will not collide if both have self_collide == false.
link 1 and link2 collide = link1.self_collide || link2.self_collide Bodies connected by a joint are exempt from this, and will never collide.

Returns: True if self collision is enabled.

unsigned int GetSensorCount ( ) const

Get sensor count.

This will return the number of sensors created by the link when it was loaded. This function is commonly used with Link::GetSensorName.

Returns: The number of sensors created by the link.

std::string GetSensorName ( unsigned int _index ) const

Get sensor name.

Get the name of a sensor based on an index. The index should be in the range of 0...Link::GetSensorCount().

Note: A Link does not manage or maintain a pointer to a sensors::Sensor. Access to a Sensor object is accomplished through the sensors::SensorManager. This was done to separate the physics engine from the sensor engine.

Parameters

[in] _index Index of the sensor name.

Returns: The name of the sensor, or empty string if the index is out of bounds.

unsigned int GetType ( ) const

inherited

Get the full type definition.

Returns: The full type definition.

msgs::Visual GetVisualMessage ( const std::string & _name ) const

Returns the visual message specified by its name.

Parameters

[in] name of the visual message

Returns: visual message

const WorldPtr& GetWorld ( ) const

inherited

Get the World this object is in.

Returns: The World this object is part of.

math::Vector3 GetWorldAngularAccel ( ) const

virtual

Get the angular acceleration of the body in the world frame, which is computed as (I^-1 * (T - w x L)), where I: inertia matrix in world frame T: sum of external torques in world frame L: angular momentum of CoG in world frame w: angular velocity in world frame.

Returns: Angular acceleration of the body in the world frame.

Reimplemented from Entity.

math::Vector3 GetWorldAngularMomentum ( ) const

Get the angular momentum of the body CoG in the world frame, which is computed as (I * w), where I: inertia matrix in world frame w: angular velocity in world frame.

Returns: Angular momentum of the body.

virtual math::Vector3 GetWorldAngularVel ( ) const

inlinevirtualinherited

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 GetWorldCoGLinearVel ( ) const

pure virtual

Get the linear velocity at the body's center of gravity in the world frame.

Returns: Linear velocity at the body's center of gravity in the world frame.

Implemented in ODELink, DARTLink, BulletLink, and SimbodyLink.

math::Pose GetWorldCoGPose ( ) const

Get the pose of the body's center of gravity in the world coordinate frame.

Returns: Pose of the body's center of gravity in the world coordinate frame.

double GetWorldEnergy ( ) const

Returns this link's total energy, or sum of Link::GetWorldEnergyPotential() and Link::GetWorldEnergyKinetic().

Returns: this link's total energy

double GetWorldEnergyKinetic ( ) const

Returns this link's kinetic energy computed using link's CoG velocity in the inertial (world) frame.

Returns: this link's kinetic energy

double GetWorldEnergyPotential ( ) const

Returns this link's potential energy, based on position in world frame and gravity.

Returns: this link's potential energy,

virtual math::Vector3 GetWorldForce ( ) const

pure virtual

Get the force applied to the body in the world frame.

Returns: Force applied to the body in the world frame.

Implemented in ODELink, DARTLink, BulletLink, and SimbodyLink.

math::Pose GetWorldInertialPose ( ) const

Get the world pose of the link inertia (cog position and Moment of Inertia frame).

This differs from GetWorldCoGPose(), which returns the cog position in the link frame (not the Moment of Inertia frame).

Returns: Inertial pose in world frame.

math::Matrix3 GetWorldInertiaMatrix ( ) const

Get the inertia matrix in the world frame.

Returns: Inertia matrix in world frame, returns matrix of zeros if link has no inertia.

math::Vector3 GetWorldLinearAccel ( ) const

virtual

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

Returns: Linear acceleration of the body in the world frame.

Reimplemented from Entity.

virtual math::Vector3 GetWorldLinearVel ( ) const

inlinevirtual

Get the linear velocity of the origin of the link frame, expressed in the world frame.

Returns: Linear velocity of the link frame.

Reimplemented from Entity.

References Vector3::Zero.

virtual math::Vector3 GetWorldLinearVel ( const math::Vector3 & _offset ) const

pure virtual

Get the linear velocity of a point on the body in the world frame, using an offset expressed in a body-fixed frame.

If no offset is given, the velocity at the origin of the Link frame will be returned.

Parameters

[in] _offset Offset of the point from the origin of the Link frame, expressed in the body-fixed frame.

Returns: Linear velocity of the point on the body

Implemented in ODELink, DARTLink, BulletLink, and SimbodyLink.

virtual math::Vector3 GetWorldLinearVel	(	const math::Vector3 &	_offset,
		const math::Quaternion &	_q
	)		const

pure virtual

Get the linear velocity of a point on the body in the world frame, using an offset expressed in an arbitrary frame.

Parameters

[in]	_offset	Offset from the origin of the link frame expressed in a frame defined by _q.
[in]	_q	Describes the rotation of a reference frame relative to the world reference frame.

Returns: Linear velocity of the point on the body in the world frame.

Implemented in ODELink, DARTLink, BulletLink, and SimbodyLink.

virtual const math::Pose& GetWorldPose ( ) const

inlinevirtualinherited

Get the absolute pose of the entity.

Returns: The absolute pose of the entity.

Reimplemented in Collision.

References Entity::worldPose.

virtual math::Vector3 GetWorldTorque ( ) const

pure virtual

Get the torque applied to the body in the world frame.

Returns: Torque applied to the body in the world frame.

Implemented in ODELink, DARTLink, BulletLink, and SimbodyLink.

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 ( )

virtual

Initialize the body.

Reimplemented from Base.

Reimplemented in BulletLink, DARTLink, SimbodyLink, and ODELink.

bool IsCanonicalLink ( ) const

inlineinherited

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

inherited

Return whether this entity is static.

Returns: True if static.

virtual void Load ( sdf::ElementPtr _sdf )

virtual

Load the body based on an SDF element.

Parameters

[in] _sdf SDF parameters.

Reimplemented from Entity.

Reimplemented in BulletLink, DARTLink, SimbodyLink, and ODELink.

void MoveFrame	(	const math::Pose &	_worldReferenceFrameSrc,
		const math::Pose &	_worldReferenceFrameDst
	)

Move Link given source and target frames specified in world coordinates.

Assuming link's relative pose to source frame (_worldReferenceFrameSrc) remains unchanged relative to destination frame (_worldReferenceFrameDst).

Parameters

[in]	_worldReferenceFrameSrc	initial reference frame to which this link is attached.
[in]	_worldReferenceFrameDst	final location of the reference frame specified in world coordinates.

virtual void OnPoseChange ( )

virtual

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

Implements Entity.

Reimplemented in BulletLink, DARTLink, SimbodyLink, and ODELink.

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 )

inherited

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 ( )

inherited

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.

void ProcessMsg ( const msgs::Link & _msg )

Update parameters from a message.

Parameters

[in] _msg Message to read.

const ignition::math::Vector3d RelativeWindLinearVel ( ) const

Returns this link's wind velocity.

Returns: this link's wind velocity.

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.

virtual void RemoveChild ( EntityPtr _child )

virtual

void RemoveChildJoint ( const std::string & _jointName )

Remove Joints that have this Link as a parent Link.

Parameters

[in] _jointName Child Joint name.

void RemoveChildren ( )

inherited

Remove all children.

void RemoveCollision ( const std::string & _name )

Remove a collision from the link.

Parameters

int]	_name Name of the collision to remove.

void RemoveParentJoint ( const std::string & _jointName )

Remove Joints that have this Link as a child Link.

Parameters

[in] _jointName Parent Joint name.

void Reset ( )

virtual

Reset the link.

Reimplemented from Entity.

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 ResetPhysicsStates ( )

Reset the velocity, acceleration, force and torque of link.

void SetAngularAccel ( const math::Vector3 & _accel )

Set the angular acceleration of the body.

Parameters

[in] _accel Angular acceleration.

virtual void SetAngularDamping ( double _damping )

pure virtual

Set the angular damping factor.

Parameters

[in] _damping Angular damping factor.

Implemented in ODELink, DARTLink, BulletLink, and SimbodyLink.

virtual void SetAngularVel ( const math::Vector3 & _vel )

pure virtual

Set the angular velocity of the body.

Parameters

[in] _vel Angular velocity.

Implemented in ODELink, BulletLink, DARTLink, and SimbodyLink.

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

inherited

Set an animation for this entity.

Parameters

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

void SetAnimation ( common::PoseAnimationPtr _anim )

inherited

Set an animation for this entity.

Parameters

[in] _anim Pose animation.

virtual void SetAutoDisable ( bool _disable )

pure virtual

Allow the link to auto disable.

Parameters

[in] _disable If true, the link is allowed to auto disable.

Implemented in ODELink, BulletLink, DARTLink, and SimbodyLink.

void SetCanonicalLink ( bool _value )

inherited

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

Parameters

[in] _value True if the link is canonical.

void SetCollideMode ( const std::string & _mode )

Set the collide mode of the body.

Parameters

[in] _mode Collision Mode, this can be: [all|none|sensors|fixed|ghost] all: collides with everything none: collides with nothing sensors: collides with everything else but other sensors fixed: collides with everything else but other fixed ghost: collides with everything else but other ghost

virtual void SetEnabled ( bool _enable ) const

pure virtual

Set whether this body is enabled.

Parameters

[in] _enable True to enable the link in the physics engine.

Implemented in BulletLink, DARTLink, SimbodyLink, and ODELink.

virtual void SetForce ( const math::Vector3 & _force )

pure virtual

Set the force applied to the body.

Parameters

[in] _force Force value.

Implemented in ODELink, BulletLink, DARTLink, and SimbodyLink.

virtual void SetGravityMode ( bool _mode )

pure virtual

Set whether gravity affects this body.

Parameters

[in] _mode True to enable gravity.

Implemented in ODELink, DARTLink, BulletLink, and SimbodyLink.

void SetInertial ( const InertialPtr & _inertial )

Set the mass of the link.

[in] _inertial Inertial value for the link.

void SetInitialRelativePose ( const math::Pose & _pose )

inherited

Set the initial pose.

Parameters

[in] _pose The initial pose.

virtual void SetKinematic ( const bool & _kinematic )

virtual

Implement this function.

Set whether this body is in the kinematic state.

Parameters

[in] _kinematic True to make the link kinematic only.

Reimplemented in ODELink, and DARTLink.

void SetLaserRetro ( float _retro )

Set the laser retro reflectiveness.

Parameters

[in] _retro Retro value for all child collisions.

void SetLinearAccel ( const math::Vector3 & _accel )

Set the linear acceleration of the body.

Parameters

[in] _accel Linear acceleration.

virtual void SetLinearDamping ( double _damping )

pure virtual

Set the linear damping factor.

Parameters

[in] _damping Linear damping factor.

Implemented in ODELink, DARTLink, BulletLink, and SimbodyLink.

virtual void SetLinearVel ( const math::Vector3 & _vel )

pure virtual

Set the linear velocity of the body.

Parameters

[in] _vel Linear velocity.

Implemented in ODELink, BulletLink, DARTLink, and SimbodyLink.

virtual void SetLinkStatic ( bool _static )

pure virtual

Freeze link to ground (inertial frame).

Parameters

[in] _static if true, freeze link to ground. Otherwise unfreeze link.

Implemented in ODELink, BulletLink, SimbodyLink, and DARTLink.

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

virtualinherited

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 SetPublishData ( bool _enable )

Enable/Disable link data publishing.

Parameters

[in] _enable True to enable publishing, false to stop publishing

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

inherited

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.

void SetScale ( const math::Vector3 & _scale )

Set the scale of the link.

Parameters

[in] _scale Scale to set the link to.

virtual bool SetSelected ( bool _set )

virtual

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

Parameters

[in] _set True to set the link as selected.

Reimplemented from Base.

virtual void SetSelfCollide ( bool _collide )

pure virtual

Set whether this body will collide with others in the model.

See Also: GetSelfCollide

Parameters

[in] _collide True to enable collisions.

Implemented in ODELink, DARTLink, BulletLink, and SimbodyLink.

void SetState ( const LinkState & _state )

Set the current link state.

Parameters

[in] _state The state to set the link to.

void SetStatic ( const bool & _static )

inherited

Set whether this entity is static: immovable.

Parameters

[in] _static True = static.

virtual void SetTorque ( const math::Vector3 & _torque )

pure virtual

Set the torque applied to the body.

Parameters

[in] _torque Torque value.

Implemented in ODELink, BulletLink, DARTLink, and SimbodyLink.

bool SetVisualPose	(	const uint32_t	_id,
		const ignition::math::Pose3d &	_pose
	)

Set the pose of a visual.

Parameters

[in]	_id	Unique ID of visual message.
[in]	_pose	Pose relative to this link to place the visual.

Returns: True if setting the pose of the visual was successful.

void SetWindEnabled ( const bool _enable )

Enable/disable wind for this link.

Parameters

[in] _enable True to enable the wind.

virtual void SetWindMode ( const bool _mode )

virtual

Set whether wind affects this body.

Parameters

[in] _mode True to enable wind.

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`
	)

inherited

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`
	)

inherited

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 ( )

virtualinherited

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.

void Update ( const common::UpdateInfo & _info )

Update the collision.

Parameters

[in] _info Update information.

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 UpdateMass ( )

inlinevirtual

Update the mass matrix.

Reimplemented in DARTLink, SimbodyLink, BulletLink, and ODELink.

virtual void UpdateParameters ( sdf::ElementPtr _sdf )

virtual

Update the parameters using new sdf values.

Parameters

[in] _sdf SDF values to load from.

Reimplemented from Entity.

virtual void UpdateSurface ( )

inlinevirtual

Update surface parameters.

Reimplemented in ODELink.

void UpdateWind ( const common::UpdateInfo & _info )

Update the wind.

Parameters

[in] _info Update information.

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.