ServerFixture Class Reference

#include <ServerFixture.hh>

Inherits Test.

Inherited by RenderingFixture.

Protected Member Functions
	ServerFixture ()
	Constructor. More...
virtual	~ServerFixture ()
	Destructor. More...
void	DoubleCompare (double *_scanA, double *_scanB, unsigned int _sampleCount, double &_diffMax, double &_diffSum, double &_diffAvg)
	Function to compare two double arrays (for example two laser scans). More...
ignition::math::Pose3d	EntityPose (const std::string &_name)
	Get the pose of an entity. More...
void	FloatCompare (float *_scanA, float *_scanB, unsigned int _sampleCount, float &_diffMax, float &_diffSum, float &_diffAvg)
	Function to compare two float arrays (for example two laser scans). More...
math::Pose	GetEntityPose (const std::string &_name) GAZEBO_DEPRECATED(8.0)
	Get the pose of an entity. More...
void	GetFrame (const std::string &_cameraName, unsigned char **_imgData, unsigned int &_width, unsigned int &_height)
	Get an image frame from a camera. More...
void	GetMemInfo (double &_resident, double &_share)
	Get the current memory information. More...
physics::ModelPtr	GetModel (const std::string &_name)
	Get a pointer to a model. More...
double	GetPercentRealTime () const
	Get the real-time factor. More...
rendering::ScenePtr	GetScene (const std::string &_sceneName="default")
	Get a pointer to the rendering scene. More...
std::string	GetUniqueString (const std::string &_prefix)
	Get unique string with a specified prefix. More...
bool	HasEntity (const std::string &_name)
	Return true if the named entity exists. More...
void	ImageCompare (unsigned char *_imageA, unsigned char *_imageB, unsigned int _width, unsigned int _height, unsigned int _depth, unsigned int &_diffMax, unsigned int &_diffSum, double &_diffAvg)
	Function to compare two images. More...
virtual void	Load (const std::string &_worldFilename)
	Load a world based on a filename. More...
virtual void	Load (const std::string &_worldFilename, bool _paused)
	Load a world based on a filename and set simulation paused/un-paused. More...
virtual void	Load (const std::string &_worldFilename, bool _paused, const std::string &_physics, const std::vector< std::string > &_systemPlugins={})
	Load a world based on a filename and set simulation paused/un-paused, and specify physics engine. More...
virtual void	LoadArgs (const std::string &_args)
	Load a world in gzserver. More...
void	LoadPlugin (const std::string &_filename, const std::string &_name)
	Load a plugin. More...
void	OnPose (ConstPosesStampedPtr &_msg)
	Function that received poses messages from a running simulation. More...
void	OnStats (ConstWorldStatisticsPtr &_msg)
	Function that received world stastics messages. More...
void	PrintImage (const std::string &_name, unsigned char **_image, unsigned int _width, unsigned int _height, unsigned int _depth)
	Print image data to screen. More...
void	PrintScan (const std::string &_name, double *_scan, unsigned int _sampleCount)
	Print laser scan to screen. More...
void	Record (const std::string &_name, const double _data)
	Helper to record data to gtest xml output. More...
void	Record (const std::string &_prefix, const ignition::math::SignalStats &_stats)
	Helper to record signal statistics to gtest xml output. More...
void	Record (const std::string &_prefix, const ignition::math::Vector3Stats &_stats)
	Helper to record Vector3d signal statistics to gtest xml output. More...
void	RemoveModel (const std::string &_name)
	Remove a model by name. More...
void	RemovePlugin (const std::string &_name)
	Remove a plugin. More...
void	RunServer (const std::vector< std::string > &_args)
	Run the server. More...
void	SetPause (bool _pause)
	Set a running simulation paused/unpaused. More...
void	SpawnBox (const std::string &_name, const math::Vector3 &_size, const math::Vector3 &_pos, const math::Vector3 &_rpy, bool _static=false) GAZEBO_DEPRECATED(8.0)
	Spawn a box. More...
void	SpawnBox (const std::string &_name, const ignition::math::Vector3d &_size=ignition::math::Vector3d::One, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
	Spawn a box. More...
void	SpawnCamera (const std::string &_modelName, const std::string &_cameraName, const math::Vector3 &_pos, const math::Vector3 &_rpy, unsigned int _width=320, unsigned int _height=240, double _rate=25, const std::string &_noiseType="", double _noiseMean=0.0, double _noiseStdDev=0.0, bool _distortion=false, double _distortionK1=0.0, double _distortionK2=0.0, double _distortionK3=0.0, double _distortionP1=0.0, double _distortionP2=0.0, double _cx=0.5, double _cy=0.5) GAZEBO_DEPRECATED(8.0)
	Spawn a camera. More...
void	SpawnCamera (const std::string &_modelName, const std::string &_cameraName, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, unsigned int _width=320, unsigned int _height=240, double _rate=25, const std::string &_noiseType="", double _noiseMean=0.0, double _noiseStdDev=0.0, bool _distortion=false, double _distortionK1=0.0, double _distortionK2=0.0, double _distortionK3=0.0, double _distortionP1=0.0, double _distortionP2=0.0, double _cx=0.5, double _cy=0.5)
	Spawn a camera. More...
void	SpawnCylinder (const std::string &_name, const math::Vector3 &_pos, const math::Vector3 &_rpy, bool _static=false) GAZEBO_DEPRECATED(8.0)
	Spawn a cylinder. More...
void	SpawnCylinder (const std::string &_name, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
	Spawn a cylinder. More...
void	SpawnDepthCameraSensor (const std::string &_modelName, const std::string &_cameraName, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, const unsigned int _width=320, const unsigned int _height=240, const double _rate=25, const double _near=0.1, const double _far=10)
	Spawn a depth camera. More...
void	SpawnEmptyLink (const std::string &_name, const math::Vector3 &_pos, const math::Vector3 &_rpy, bool _static=false) GAZEBO_DEPRECATED(8.0)
	Spawn an empty link. More...
void	SpawnEmptyLink (const std::string &_name, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
	Spawn an empty link. More...
void	SpawnGpuRaySensor (const std::string &_modelName, const std::string &_raySensorName, const math::Vector3 &_pos, const math::Vector3 &_rpy, double _hMinAngle=-2.0, double _hMaxAngle=2.0, double _minRange=0.08, double _maxRange=10, double _rangeResolution=0.01, unsigned int _samples=640, const std::string &_noiseType="", double _noiseMean=0.0, double _noiseStdDev=0.0) GAZEBO_DEPRECATED(8.0)
	Spawn a gpu laser. More...
void	SpawnGpuRaySensor (const std::string &_modelName, const std::string &_raySensorName, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, double _hMinAngle=-2.0, double _hMaxAngle=2.0, double _minRange=0.08, double _maxRange=10, double _rangeResolution=0.01, unsigned int _samples=640, const std::string &_noiseType="", double _noiseMean=0.0, double _noiseStdDev=0.0)
	Spawn a gpu laser. More...
void	SpawnImuSensor (const std::string &_modelName, const std::string &_imuSensorName, const math::Vector3 &_pos, const math::Vector3 &_rpy, const std::string &_noiseType="", double _rateNoiseMean=0.0, double _rateNoiseStdDev=0.0, double _rateBiasMean=0.0, double _rateBiasStdDev=0.0, double _accelNoiseMean=0.0, double _accelNoiseStdDev=0.0, double _accelBiasMean=0.0, double _accelBiasStdDev=0.0) GAZEBO_DEPRECATED(8.0)
	Spawn an imu sensor laser. More...
void	SpawnImuSensor (const std::string &_modelName, const std::string &_imuSensorName, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, const std::string &_noiseType="", double _rateNoiseMean=0.0, double _rateNoiseStdDev=0.0, double _rateBiasMean=0.0, double _rateBiasStdDev=0.0, double _accelNoiseMean=0.0, double _accelNoiseStdDev=0.0, double _accelBiasMean=0.0, double _accelBiasStdDev=0.0)
	Spawn an imu sensor laser. More...
void	SpawnLight (const std::string &_name, const std::string &_type, const math::Vector3 &_pos, const math::Vector3 &_rpy, const common::Color &_diffuse=common::Color::White, const common::Color &_specular=common::Color::White, const math::Vector3 &_direction=-math::Vector3::UnitZ, double _attenuationRange=20, double _attenuationConstant=0.5, double _attenuationLinear=0.01, double _attenuationQuadratic=0.001, double _spotInnerAngle=0, double _spotOuterAngle=0, double _spotFallOff=0, bool _castShadows=true) GAZEBO_DEPRECATED(8.0)
	Spawn a light. More...
void	SpawnLight (const std::string &_name, const std::string &_type, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, const common::Color &_diffuse=common::Color::White, const common::Color &_specular=common::Color::White, const ignition::math::Vector3d &_direction=-ignition::math::Vector3d::UnitZ, double _attenuationRange=20, double _attenuationConstant=0.5, double _attenuationLinear=0.01, double _attenuationQuadratic=0.001, double _spotInnerAngle=0, double _spotOuterAngle=0, double _spotFallOff=0, bool _castShadows=true)
	Spawn a light. More...
physics::ModelPtr	SpawnModel (const msgs::Model &_msg)
	Spawn a model from a msgs::Model and return ModelPtr. More...
void	SpawnModel (const std::string &_filename)
	Spawn a model from file. More...
void	SpawnRaySensor (const std::string &_modelName, const std::string &_raySensorName, const math::Vector3 &_pos, const math::Vector3 &_rpy, double _hMinAngle=-2.0, double _hMaxAngle=2.0, double _vMinAngle=-1.0, double _vMaxAngle=1.0, double _minRange=0.08, double _maxRange=10, double _rangeResolution=0.01, unsigned int _samples=640, unsigned int _vSamples=1, double _hResolution=1.0, double _vResolution=1.0, const std::string &_noiseType="", double _noiseMean=0.0, double _noiseStdDev=0.0) GAZEBO_DEPRECATED(8.0)
	Spawn a laser. More...
void	SpawnRaySensor (const std::string &_modelName, const std::string &_raySensorName, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, double _hMinAngle=-2.0, double _hMaxAngle=2.0, double _vMinAngle=-1.0, double _vMaxAngle=1.0, double _minRange=0.08, double _maxRange=10, double _rangeResolution=0.01, unsigned int _samples=640, unsigned int _vSamples=1, double _hResolution=1.0, double _vResolution=1.0, const std::string &_noiseType="", double _noiseMean=0.0, double _noiseStdDev=0.0)
	Spawn a laser. More...
void	SpawnSDF (const std::string &_sdf)
	Send a factory message based on an SDF string. More...
sensors::SonarSensorPtr	SpawnSonar (const std::string &_modelName, const std::string &_sonarName, const ignition::math::Pose3d &_pose, const double _minRange, const double _maxRange, const double _radius)
	Spawn a sonar. More...
void	SpawnSphere (const std::string &_name, const math::Vector3 &_pos, const math::Vector3 &_rpy, bool _wait=true, bool _static=false) GAZEBO_DEPRECATED(8.0)
	Spawn a sphere. More...
void	SpawnSphere (const std::string &_name, const ignition::math::Vector3d &_pos, const ignition::math::Vector3d &_rpy, bool _wait=true, bool _static=false)
	Spawn a sphere. More...
void	SpawnSphere (const std::string &_name, const math::Vector3 &_pos, const math::Vector3 &_rpy, const math::Vector3 &_cog, double _radius, bool _wait=true, bool _static=false) GAZEBO_DEPRECATED(8.0)
	Spawn a sphere. More...
void	SpawnSphere (const std::string &_name, const ignition::math::Vector3d &_pos, const ignition::math::Vector3d &_rpy, const ignition::math::Vector3d &_cog, double _radius=1.0, bool _wait=true, bool _static=false)
	Spawn a sphere. More...
void	SpawnTrimesh (const std::string &_name, const std::string &_modelPath, const math::Vector3 &_scale, const math::Vector3 &_pos, const math::Vector3 &_rpy, bool _static=false) GAZEBO_DEPRECATED(8.0)
	Spawn a triangle mesh. More...
void	SpawnTrimesh (const std::string &_name, const std::string &_modelPath, const ignition::math::Vector3d &_scale=ignition::math::Vector3d::One, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
	Spawn a triangle mesh. More...
void	SpawnUnitAltimeterSensor (const std::string &_name, const std::string &_sensorName, const std::string &_collisionType, const std::string &_topic, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
	Spawn an altimeter sensor on a link. More...
void	SpawnUnitContactSensor (const std::string &_name, const std::string &_sensorName, const std::string &_collisionType, const math::Vector3 &_pos, const math::Vector3 &_rpy, bool _static=false) GAZEBO_DEPRECATED(8.0)
	Spawn a contact sensor with the specified collision geometry. More...
void	SpawnUnitContactSensor (const std::string &_name, const std::string &_sensorName, const std::string &_collisionType, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
	Spawn a contact sensor with the specified collision geometry. More...
void	SpawnUnitImuSensor (const std::string &_name, const std::string &_sensorName, const std::string &_collisionType, const std::string &_topic, const math::Vector3 &_pos, const math::Vector3 &_rpy, bool _static=false) GAZEBO_DEPRECATED(8.0)
	Spawn an IMU sensor on a link. More...
void	SpawnUnitImuSensor (const std::string &_name, const std::string &_sensorName, const std::string &_collisionType, const std::string &_topic, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
	Spawn an IMU sensor on a link. More...
void	SpawnUnitMagnetometerSensor (const std::string &_name, const std::string &_sensorName, const std::string &_collisionType, const std::string &_topic, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
	Spawn a magnetometer sensor on a link. More...
void	SpawnWideAngleCamera (const std::string &_modelName, const std::string &_cameraName, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, unsigned int _width=320, unsigned int _height=240, double _rate=25, const double _hfov=60, const std::string &_lensType="stereographic", const bool _scaleToHfov=true, const double _cutoffAngle=3.1415, const double _envTextureSize=512, const double _c1=1.05, const double _c2=4, const double _f=1.0, const std::string &_fun="tan")
	Spawn a wide angle camera. More...
void	SpawnWirelessReceiverSensor (const std::string &_name, const std::string &_sensorName, const math::Vector3 &_pos, const math::Vector3 &_rpy, double _minFreq, double _maxFreq, double _power, double _gain, double _sensitivity, bool _visualize=true) GAZEBO_DEPRECATED(8.0)
	Spawn an Wireless receiver sensor on a link. More...
void	SpawnWirelessReceiverSensor (const std::string &_name, const std::string &_sensorName, const ignition::math::Vector3d &_pos, const ignition::math::Vector3d &_rpy, double _minFreq, double _maxFreq, double _power, double _gain, double _sensitivity, bool _visualize=true)
	Spawn an Wireless receiver sensor on a link. More...
void	SpawnWirelessTransmitterSensor (const std::string &_name, const std::string &_sensorName, const math::Vector3 &_pos, const math::Vector3 &_rpy, const std::string &_essid, double _freq, double _power, double _gain, bool _visualize=true) GAZEBO_DEPRECATED(8.0)
	Spawn an Wireless transmitter sensor on a link. More...
void	SpawnWirelessTransmitterSensor (const std::string &_name, const std::string &_sensorName, const ignition::math::Vector3d &_pos, const ignition::math::Vector3d &_rpy, const std::string &_essid, double _freq, double _power, double _gain, bool _visualize=true)
	Spawn an Wireless transmitter sensor on a link. More...
virtual void	TearDown ()
	Tear down the test fixture. This gets called by gtest. More...
virtual void	Unload ()
	Unload the test fixture. More...
void	WaitUntilEntitySpawn (const std::string &_name, unsigned int _sleepEach, int _retries)
	Wait for a number of ms. More...
void	WaitUntilIteration (const uint32_t _goalIteration, const int _sleepEach, const int _retries) const
	Wait for a number of ms. More...
void	WaitUntilSensorSpawn (const std::string &_name, unsigned int _sleepEach, int _retries)
	Wait for a number of ms. More...
void	WaitUntilSimTime (const common::Time &_goalTime, const int _ms, const int _maxRetries) const
	Wait for a number of ms. More...

Static Protected Member Functions
template<typename T >
static void	CheckPointer (boost::shared_ptr< T > _ptr)
	Check that a pointer is not NULL. More...

Protected Attributes
transport::PublisherPtr	factoryPub
	Factory publisher. More...
transport::NodePtr	node
	Pointer to a node for communication. More...
common::Time	pauseTime
std::map< std::string, ignition::math::Pose3d >	poses
	Map of received poses. More...
transport::SubscriberPtr	poseSub
	Pose subscription. More...
common::Time	realTime
std::mutex	receiveMutex
	Mutex to protect data structures that store messages. More...
transport::PublisherPtr	requestPub
	Request publisher. More...
Server *	server
	Pointer the Gazebo server. More...
boost::thread *	serverThread
	Pointer the thread the runs the server. More...
common::Time	simTime
	Current simulation time, real time, and pause time. More...
transport::SubscriberPtr	statsSub
	World statistics subscription. More...

Constructor & Destructor Documentation

ServerFixture ( )

protected

Constructor.

virtual ~ServerFixture ( )

protectedvirtual

Destructor.

Member Function Documentation

static void CheckPointer ( boost::shared_ptr< T >  _ptr )

inlinestaticprotected

Check that a pointer is not NULL.

A function is created for this purpose, since ASSERT's cannot be called from non-void functions.

Parameters

[in]

_ptr

Pointer to verify is not NULL.

References NULL.

void DoubleCompare ( double *  _scanA, double *  _scanB, unsigned int  _sampleCount, double &  _diffMax, double &  _diffSum, double &  _diffAvg  )

protected

Function to compare two double arrays (for example two laser scans).

Parameters

[in]	_scanA	First double array.
[in]	_scanB	Second double array.
[in]	_sampleCount	Number of samples in each double array.
[out]	_diffMax	Maximum difference between the two arrays.
[out]	_diffSum	Sum of the differences between the two arrays.
[out]	_diffAvg	Average difference between the two arrays.

ignition::math::Pose3d EntityPose ( const std::string &  _name )

protected

Get the pose of an entity.

Parameters

[in]

_name

Name of the entity.

Returns

Pose of the named entity.

void FloatCompare ( float *  _scanA, float *  _scanB, unsigned int  _sampleCount, float &  _diffMax, float &  _diffSum, float &  _diffAvg  )

protected

Function to compare two float arrays (for example two laser scans).

Parameters

[in]	_scanA	First float array.
[in]	_scanB	Second float array.
[in]	_sampleCount	Number of samples in each float array.
[out]	_diffMax	Maximum difference between the two arrays.
[out]	_diffSum	Sum of the differences between the two arrays.
[out]	_diffAvg	Average difference between the two arrays.

math::Pose GetEntityPose ( const std::string &  _name )

protected

Get the pose of an entity.

Parameters

[in]

_name

Name of the entity.

Returns

Pose of the named entity.

Deprecated:

See ignition::math::Pose3d EntityPose( const std::string &_name)

void GetFrame ( const std::string &  _cameraName, unsigned char **  _imgData, unsigned int &  _width, unsigned int &  _height  )

protected

Get an image frame from a camera.

Parameters

[in]	_cameraName	Name of the camera to get a frame from.
[out]	_imgData	Array that receives the image data.
[in]	_width	Width of the image frame.
[in]	_height	Height of the image frame.

void GetMemInfo ( double &  _resident, double &  _share  )

protected

Get the current memory information.

Parameters

[out]	_resident	Resident memory.
[out]	_share	Shared memory.

physics::ModelPtr GetModel ( const std::string &  _name )

protected

Get a pointer to a model.

Parameters

[in]

_name

Name of the model to get.

Returns

Pointer to the model, or NULL if the model was not found.

double GetPercentRealTime ( ) const

protected

Get the real-time factor.

Returns

The percent real time simulation is running.

rendering::ScenePtr GetScene ( const std::string &  _sceneName = "default" )

protected

Get a pointer to the rendering scene.

Parameters

[in]

_sceneName

Name of the scene to get.

std::string GetUniqueString ( const std::string &  _prefix )

protected

Get unique string with a specified prefix.

Parameters

[in]

_prefix

Prefix for unique string.

Returns

String with prefix and unique number as suffix.

bool HasEntity ( const std::string &  _name )

protected

Return true if the named entity exists.

Parameters

[in]

_name

Name of the entity to check for.

Returns

True if the entity exists.

void ImageCompare ( unsigned char *  _imageA, unsigned char *  _imageB, unsigned int  _width, unsigned int  _height, unsigned int  _depth, unsigned int &  _diffMax, unsigned int &  _diffSum, double &  _diffAvg  )

protected

Function to compare two images.

Parameters

[in]	_imageA	First image to compare.
[in]	_imageB	Second image to compare.
[in]	_width	Width of both images.
[in]	_height	Height of both images.
[in]	_depth	Depth of both images.
[out]	_diffMax	Maximum difference between the two arrays.
[out]	_diffSum	Sum of the differences between the two arrays.
[out]	_diffAvg	Average difference between the two arrays.

virtual void Load ( const std::string &  _worldFilename )

protectedvirtual

Load a world based on a filename.

Parameters

[in]

_worldFilename

Name of the world to load.

virtual void Load ( const std::string &  _worldFilename, bool  _paused  )

protectedvirtual

Load a world based on a filename and set simulation paused/un-paused.

Parameters

[in]	_worldFilename	Name of the world to load.
[in]	_paused	True to start the world paused.

virtual void Load ( const std::string &  _worldFilename, bool  _paused, const std::string &  _physics, const std::vector< std::string > &  _systemPlugins = {}  )

protectedvirtual

Load a world based on a filename and set simulation paused/un-paused, and specify physics engine.

This versions allows plugins to be loaded (via the cmd line args)

Parameters

[in]	_worldFilename	Name of the world to load.
[in]	_paused	True to start the world paused.
[in]	_physics	Name of the physics engine.
[in]	_systemPlugins	Array of system plugins to load.

virtual void LoadArgs ( const std::string &  _args )

protectedvirtual

Load a world in gzserver.

Parameters

[in]

_args

Options for the server using the same syntax used in the command line. E.g.: "-u --verbose" will run gzserver paused and in verbose mode.

void LoadPlugin ( const std::string &  _filename, const std::string &  _name  )

protected

Load a plugin.

Parameters

[in]	_filename	Plugin filename to load.
[in]	_name	Name to associate with with the plugin.

void OnPose ( ConstPosesStampedPtr &  _msg )

protected

Function that received poses messages from a running simulation.

Parameters

[in]

_msg

Pose message.

void OnStats ( ConstWorldStatisticsPtr &  _msg )

protected

Function that received world stastics messages.

Parameters

[in]

_msg

World statistics message.

void PrintImage ( const std::string &  _name, unsigned char **  _image, unsigned int  _width, unsigned int  _height, unsigned int  _depth  )

protected

Print image data to screen.

This is used to generate test data.

Parameters

[in]	_name	Name to associate with the printed data.
[in]	_image	The raw image data.
[in]	_width	Width of the image.
[in]	_height	Height of the image.
[in]	_depth	Pixel depth.

void PrintScan ( const std::string &  _name, double *  _scan, unsigned int  _sampleCount  )

protected

Print laser scan to screen.

This is used to generate test data.

Parameters

[in]	_name	Name to associate with the printed data.
[in]	_scan	The laser scan data.
[in]	_sampleCount	Number of samples in the scan data.

void Record ( const std::string &  _name, const double  _data  )

protected

Helper to record data to gtest xml output.

Parameters

[in]	_name	Name of data.
[in]	_data	Floating point number to store.

void Record ( const std::string &  _prefix, const ignition::math::SignalStats &  _stats  )

protected

Helper to record signal statistics to gtest xml output.

Parameters

[in]	_prefix	Prefix string for data names.
[in]	_stats	Signal statistics to store.

void Record ( const std::string &  _prefix, const ignition::math::Vector3Stats &  _stats  )

protected

Helper to record Vector3d signal statistics to gtest xml output.

Parameters

[in]	_prefix	Prefix string for data names.
[in]	_stats	Vector3d signal statistics to store.

void RemoveModel ( const std::string &  _name )

protected

Remove a model by name.

Parameters

[in]

_name

Name of the model to remove.

void RemovePlugin ( const std::string &  _name )

protected

Remove a plugin.

Parameters

[in]

_name

Name of the plugin to remove.

void RunServer ( const std::vector< std::string > &  _args )

protected

Run the server.

Parameters

[in]

_args

Vector of options for the server using the same syntax used in the command line. E.g.: {"-u", "--verbose"} will run gzserver paused and in verbose mode.

void SetPause ( bool  _pause )

protected

Set a running simulation paused/unpaused.

void SpawnBox ( const std::string &  _name, const math::Vector3 &  _size, const math::Vector3 &  _pos, const math::Vector3 &  _rpy, bool  _static = false  )

inlineprotected

Spawn a box.

Parameters

[in]	_name	Name for the model.
[in]	_size	Size of the box.
[in]	_pos	Position for the model.
[in]	_rpy	Roll, pitch, yaw for the model.
[in]	_static	True to make the model static.

Deprecated:

See function that accepts ignition::math parameters

References Vector3::Ign().

void SpawnBox ( const std::string &  _name, const ignition::math::Vector3d &  _size = ignition::math::Vector3d::One, const ignition::math::Vector3d &  _pos = ignition::math::Vector3d::Zero, const ignition::math::Vector3d &  _rpy = ignition::math::Vector3d::Zero, bool  _static = false  )

protected

Spawn a box.

Parameters

[in]	_name	Name for the model.
[in]	_size	Size of the box.
[in]	_pos	Position for the model.
[in]	_rpy	Roll, pitch, yaw for the model.
[in]	_static	True to make the model static.

void SpawnCamera ( const std::string &  _modelName, const std::string &  _cameraName, const math::Vector3 &  _pos, const math::Vector3 &  _rpy, unsigned int  _width = 320, unsigned int  _height = 240, double  _rate = 25, const std::string &  _noiseType = "", double  _noiseMean = 0.0, double  _noiseStdDev = 0.0, bool  _distortion = false, double  _distortionK1 = 0.0, double  _distortionK2 = 0.0, double  _distortionK3 = 0.0, double  _distortionP1 = 0.0, double  _distortionP2 = 0.0, double  _cx = 0.5, double  _cy = 0.5  )

inlineprotected

Spawn a camera.

Parameters

[in]	_modelName	Name of the model.
[in]	_cameraName	Name of the camera.
[in]	_pos	Camera position.
[in]	_rpy	Camera roll, pitch, yaw.
[in]	_width	Output image width.
[in]	_height	Output image height.
[in]	_rate	Output Hz.
[in]	_noiseType	Type of noise to apply.
[in]	_noiseMean	Mean noise value.
[in]	_noiseStdDev	Standard deviation of the noise.
[in]	_distortionK1	Distortion coefficient k1.
[in]	_distortionK2	Distortion coefficient k2.
[in]	_distortionK3	Distortion coefficient k3.
[in]	_distortionP1	Distortion coefficient P1.
[in]	_distortionP2	Distortion coefficient p2.
[in]	_cx	Normalized optical center x, used for distortion.
[in]	_cy	Normalized optical center y, used for distortion.

Deprecated:

See function that accepts ignition::math parameters

References Vector3::Ign().

void SpawnCamera ( const std::string &  _modelName, const std::string &  _cameraName, const ignition::math::Vector3d &  _pos = ignition::math::Vector3d::Zero, const ignition::math::Vector3d &  _rpy = ignition::math::Vector3d::Zero, unsigned int  _width = 320, unsigned int  _height = 240, double  _rate = 25, const std::string &  _noiseType = "", double  _noiseMean = 0.0, double  _noiseStdDev = 0.0, bool  _distortion = false, double  _distortionK1 = 0.0, double  _distortionK2 = 0.0, double  _distortionK3 = 0.0, double  _distortionP1 = 0.0, double  _distortionP2 = 0.0, double  _cx = 0.5, double  _cy = 0.5  )

protected

Spawn a camera.

Parameters

[in]	_modelName	Name of the model.
[in]	_cameraName	Name of the camera.
[in]	_pos	Camera position.
[in]	_rpy	Camera roll, pitch, yaw.
[in]	_width	Output image width.
[in]	_height	Output image height.
[in]	_rate	Output Hz.
[in]	_noiseType	Type of noise to apply.
[in]	_noiseMean	Mean noise value.
[in]	_noiseStdDev	Standard deviation of the noise.
[in]	_distortionK1	Distortion coefficient k1.
[in]	_distortionK2	Distortion coefficient k2.
[in]	_distortionK3	Distortion coefficient k3.
[in]	_distortionP1	Distortion coefficient P1.
[in]	_distortionP2	Distortion coefficient p2.
[in]	_cx	Normalized optical center x, used for distortion.
[in]	_cy	Normalized optical center y, used for distortion.

void SpawnCylinder ( const std::string &  _name, const math::Vector3 &  _pos, const math::Vector3 &  _rpy, bool  _static = false  )

inlineprotected

Spawn a cylinder.

Parameters

[in]	_name	Name for the model.
[in]	_pos	Position for the model.
[in]	_rpy	Roll, pitch, yaw for the model.
[in]	_static	True to make the model static.

Deprecated:

See function that accepts ignition::math parameters

References Vector3::Ign().

void SpawnCylinder ( const std::string &  _name, const ignition::math::Vector3d &  _pos = ignition::math::Vector3d::Zero, const ignition::math::Vector3d &  _rpy = ignition::math::Vector3d::Zero, bool  _static = false  )

protected

Spawn a cylinder.

Parameters

[in]	_name	Name for the model.
[in]	_pos	Position for the model.
[in]	_rpy	Roll, pitch, yaw for the model.
[in]	_static	True to make the model static.

void SpawnDepthCameraSensor ( const std::string &  _modelName, const std::string &  _cameraName, const ignition::math::Vector3d &  _pos = ignition::math::Vector3d::Zero, const ignition::math::Vector3d &  _rpy = ignition::math::Vector3d::Zero, const unsigned int  _width = 320, const unsigned int  _height = 240, const double  _rate = 25, const double  _near = 0.1, const double  _far = 10  )

protected

Spawn a depth camera.

Parameters

[in]	_modelName	Name of the model.
[in]	_cameraName	Name of the camera.
[in]	_pos	Camera position.
[in]	_rpy	Camera roll, pitch, yaw.
[in]	_width	Output image width.
[in]	_height	Output image height.
[in]	_rate	Output Hz.
[in]	_near	Near clipping distance
[in]	_far	Far clipping distance

void SpawnEmptyLink ( const std::string &  _name, const math::Vector3 &  _pos, const math::Vector3 &  _rpy, bool  _static = false  )

inlineprotected

Spawn an empty link.

Parameters

[in]	_name	Name for the model.
[in]	_pos	Position for the model.
[in]	_rpy	Roll, pitch, yaw for the model.
[in]	_static	True to make the model static.

Deprecated:

See function that accepts ignition::math parameters

References Vector3::Ign().

void SpawnEmptyLink ( const std::string &  _name, const ignition::math::Vector3d &  _pos = ignition::math::Vector3d::Zero, const ignition::math::Vector3d &  _rpy = ignition::math::Vector3d::Zero, bool  _static = false  )

protected

Spawn an empty link.

Parameters

[in]	_name	Name for the model.
[in]	_pos	Position for the model.
[in]	_rpy	Roll, pitch, yaw for the model.
[in]	_static	True to make the model static.

void SpawnGpuRaySensor ( const std::string &  _modelName, const std::string &  _raySensorName, const math::Vector3 &  _pos, const math::Vector3 &  _rpy, double  _hMinAngle = -2.0, double  _hMaxAngle = 2.0, double  _minRange = 0.08, double  _maxRange = 10, double  _rangeResolution = 0.01, unsigned int  _samples = 640, const std::string &  _noiseType = "", double  _noiseMean = 0.0, double  _noiseStdDev = 0.0  )

inlineprotected

Spawn a gpu laser.

Parameters

[in]	_modelName	Name of the model.
[in]	_raySensorName	Name of the laser.
[in]	_pos	Camera position.
[in]	_rpy	Camera roll, pitch, yaw.
[in]	_hMinAngle	Horizontal min angle
[in]	_hMaxAngle	Horizontal max angle
[in]	_minRange	Min range
[in]	_maxRange	Max range
[in]	_rangeResolution	Resolution of the scan
[in]	_samples	Number of samples.
[in]	_rate	Output Hz.
[in]	_noiseType	Type of noise to apply.
[in]	_noiseMean	Mean noise value.
[in]	_noiseStdDev	Standard deviation of the noise.

Deprecated:

See function that accepts ignition::math parameters

References Vector3::Ign().

void SpawnGpuRaySensor ( const std::string &  _modelName, const std::string &  _raySensorName, const ignition::math::Vector3d &  _pos = ignition::math::Vector3d::Zero, const ignition::math::Vector3d &  _rpy = ignition::math::Vector3d::Zero, double  _hMinAngle = -2.0, double  _hMaxAngle = 2.0, double  _minRange = 0.08, double  _maxRange = 10, double  _rangeResolution = 0.01, unsigned int  _samples = 640, const std::string &  _noiseType = "", double  _noiseMean = 0.0, double  _noiseStdDev = 0.0  )

protected

Spawn a gpu laser.

Parameters

[in]	_modelName	Name of the model.
[in]	_raySensorName	Name of the laser.
[in]	_pos	Camera position.
[in]	_rpy	Camera roll, pitch, yaw.
[in]	_hMinAngle	Horizontal min angle
[in]	_hMaxAngle	Horizontal max angle
[in]	_minRange	Min range
[in]	_maxRange	Max range
[in]	_rangeResolution	Resolution of the scan
[in]	_samples	Number of samples.
[in]	_rate	Output Hz.
[in]	_noiseType	Type of noise to apply.
[in]	_noiseMean	Mean noise value.
[in]	_noiseStdDev	Standard deviation of the noise.

void SpawnImuSensor ( const std::string &  _modelName, const std::string &  _imuSensorName, const math::Vector3 &  _pos, const math::Vector3 &  _rpy, const std::string &  _noiseType = "", double  _rateNoiseMean = 0.0, double  _rateNoiseStdDev = 0.0, double  _rateBiasMean = 0.0, double  _rateBiasStdDev = 0.0, double  _accelNoiseMean = 0.0, double  _accelNoiseStdDev = 0.0, double  _accelBiasMean = 0.0, double  _accelBiasStdDev = 0.0  )

inlineprotected

Spawn an imu sensor laser.

Parameters

[in]	_modelName	Name of the model.
[in]	_imuSensorName	Name of the imu sensor.
[in]	_pos	Camera position.
[in]	_rpy	Camera roll, pitch, yaw.
[in]	_noiseType	Type of noise to apply.
[in]	_noiseMean	Mean noise value.
[in]	_noiseStdDev	Standard deviation of the noise.
[in]	_accelNoiseMean	Acceleration based noise mean.
[in]	_accelNoiseStdDev	Acceleration based noise standard deviation.
[in]	_accelBiasMean	Acceleration mean bias
[in]	_accelBiasStdDev	Acceleration standard deviation bias

Deprecated:

See function that accepts ignition::math parameters

References Vector3::Ign().

void SpawnImuSensor ( const std::string &  _modelName, const std::string &  _imuSensorName, const ignition::math::Vector3d &  _pos = ignition::math::Vector3d::Zero, const ignition::math::Vector3d &  _rpy = ignition::math::Vector3d::Zero, const std::string &  _noiseType = "", double  _rateNoiseMean = 0.0, double  _rateNoiseStdDev = 0.0, double  _rateBiasMean = 0.0, double  _rateBiasStdDev = 0.0, double  _accelNoiseMean = 0.0, double  _accelNoiseStdDev = 0.0, double  _accelBiasMean = 0.0, double  _accelBiasStdDev = 0.0  )

protected

Spawn an imu sensor laser.

Parameters

[in]	_modelName	Name of the model.
[in]	_imuSensorName	Name of the imu sensor.
[in]	_pos	Camera position.
[in]	_rpy	Camera roll, pitch, yaw.
[in]	_noiseType	Type of noise to apply.
[in]	_noiseMean	Mean noise value.
[in]	_noiseStdDev	Standard deviation of the noise.
[in]	_accelNoiseMean	Acceleration based noise mean.
[in]	_accelNoiseStdDev	Acceleration based noise standard deviation.
[in]	_accelBiasMean	Acceleration mean bias
[in]	_accelBiasStdDev	Acceleration standard deviation bias

void SpawnLight ( const std::string &  _name, const std::string &  _type, const math::Vector3 &  _pos, const math::Vector3 &  _rpy, const common::Color &  _diffuse = common::Color::White, const common::Color &  _specular = common::Color::White, const math::Vector3 &  _direction = -math::Vector3::UnitZ, double  _attenuationRange = 20, double  _attenuationConstant = 0.5, double  _attenuationLinear = 0.01, double  _attenuationQuadratic = 0.001, double  _spotInnerAngle = 0, double  _spotOuterAngle = 0, double  _spotFallOff = 0, bool  _castShadows = true  )

inlineprotected

Spawn a light.

Parameters

[in]	_name	Name for the light.
[in]	_size	Type of light - "spot", "directional", or "point".
[in]	_pos	Position for the light.
[in]	_rpy	Roll, pitch, yaw for the light.
[in]	_diffuse	Diffuse color of the light.
[in]	_specular	Specular color of the light.
[in]	_direction	Direction of the light ("spot" and "directional").
[in]	_attenuationRange	Range of attenuation.
[in]	_attenuationConstant	Constant component of attenuation
[in]	_attenuationLinear	Linear component of attenuation
[in]	_attenuationQuadratic	Quadratic component of attenuation
[in]	_spotInnerAngle	Inner angle ("spot" only).
[in]	_spotOuterAngle	Outer angle ("spot" only).
[in]	_spotFallOff	Fall off ("spot" only).
[in]	_castShadows	True to cast shadows.

Deprecated:

See function that accepts ignition::math parameters

References Vector3::Ign().

void SpawnLight ( const std::string &  _name, const std::string &  _type, const ignition::math::Vector3d &  _pos = ignition::math::Vector3d::Zero, const ignition::math::Vector3d &  _rpy = ignition::math::Vector3d::Zero, const common::Color &  _diffuse = common::Color::White, const common::Color &  _specular = common::Color::White, const ignition::math::Vector3d &  _direction = -ignition::math::Vector3d::UnitZ, double  _attenuationRange = 20, double  _attenuationConstant = 0.5, double  _attenuationLinear = 0.01, double  _attenuationQuadratic = 0.001, double  _spotInnerAngle = 0, double  _spotOuterAngle = 0, double  _spotFallOff = 0, bool  _castShadows = true  )

protected

Spawn a light.

Parameters

[in]	_name	Name for the light.
[in]	_size	Type of light - "spot", "directional", or "point".
[in]	_pos	Position for the light.
[in]	_rpy	Roll, pitch, yaw for the light.
[in]	_diffuse	Diffuse color of the light.
[in]	_specular	Specular color of the light.
[in]	_direction	Direction of the light ("spot" and "directional").
[in]	_attenuationRange	Range of attenuation.
[in]	_attenuationConstant	Constant component of attenuation
[in]	_attenuationLinear	Linear component of attenuation
[in]	_attenuationQuadratic	Quadratic component of attenuation
[in]	_spotInnerAngle	Inner angle ("spot" only).
[in]	_spotOuterAngle	Outer angle ("spot" only).
[in]	_spotFallOff	Fall off ("spot" only).
[in]	_castShadows	True to cast shadows.

physics::ModelPtr SpawnModel ( const msgs::Model &  _msg )

protected

Spawn a model from a msgs::Model and return ModelPtr.

Parameters

[in]

_msg

Model message.

Returns

Pointer to model.

void SpawnModel ( const std::string &  _filename )

protected

Spawn a model from file.

Parameters

[in]

_filename

File to load a model from.

void SpawnRaySensor ( const std::string &  _modelName, const std::string &  _raySensorName, const math::Vector3 &  _pos, const math::Vector3 &  _rpy, double  _hMinAngle = -2.0, double  _hMaxAngle = 2.0, double  _vMinAngle = -1.0, double  _vMaxAngle = 1.0, double  _minRange = 0.08, double  _maxRange = 10, double  _rangeResolution = 0.01, unsigned int  _samples = 640, unsigned int  _vSamples = 1, double  _hResolution = 1.0, double  _vResolution = 1.0, const std::string &  _noiseType = "", double  _noiseMean = 0.0, double  _noiseStdDev = 0.0  )

inlineprotected

Spawn a laser.

Parameters

[in]	_modelName	Name of the model.
[in]	_raySensorName	Name of the laser.
[in]	_pos	Camera position.
[in]	_rpy	Camera roll, pitch, yaw.
[in]	_hMinAngle	Horizontal min angle
[in]	_hMaxAngle	Horizontal max angle
[in]	_minRange	Min range
[in]	_maxRange	Max range
[in]	_rangeResolution	Resolution of the scan
[in]	_samples	Number of samples.
[in]	_rate	Output Hz.
[in]	_noiseType	Type of noise to apply.
[in]	_noiseMean	Mean noise value.
[in]	_noiseStdDev	Standard deviation of the noise.

Deprecated:

See function that accepts ignition::math parameters

References Vector3::Ign().

void SpawnRaySensor ( const std::string &  _modelName, const std::string &  _raySensorName, const ignition::math::Vector3d &  _pos = ignition::math::Vector3d::Zero, const ignition::math::Vector3d &  _rpy = ignition::math::Vector3d::Zero, double  _hMinAngle = -2.0, double  _hMaxAngle = 2.0, double  _vMinAngle = -1.0, double  _vMaxAngle = 1.0, double  _minRange = 0.08, double  _maxRange = 10, double  _rangeResolution = 0.01, unsigned int  _samples = 640, unsigned int  _vSamples = 1, double  _hResolution = 1.0, double  _vResolution = 1.0, const std::string &  _noiseType = "", double  _noiseMean = 0.0, double  _noiseStdDev = 0.0  )

protected

Spawn a laser.

Parameters

[in]	_modelName	Name of the model.
[in]	_raySensorName	Name of the laser.
[in]	_pos	Camera position.
[in]	_rpy	Camera roll, pitch, yaw.
[in]	_hMinAngle	Horizontal min angle
[in]	_hMaxAngle	Horizontal max angle
[in]	_minRange	Min range
[in]	_maxRange	Max range
[in]	_rangeResolution	Resolution of the scan
[in]	_samples	Number of samples.
[in]	_rate	Output Hz.
[in]	_noiseType	Type of noise to apply.
[in]	_noiseMean	Mean noise value.
[in]	_noiseStdDev	Standard deviation of the noise.

void SpawnSDF ( const std::string &  _sdf )

protected

Send a factory message based on an SDF string.

Parameters

[in]

_sdf

SDF string to publish.

sensors::SonarSensorPtr SpawnSonar ( const std::string &  _modelName, const std::string &  _sonarName, const ignition::math::Pose3d &  _pose, const double  _minRange, const double  _maxRange, const double  _radius  )

protected

Spawn a sonar.

Parameters

[in]	_modelName	Name of the model.
[in]	_sonarName	Name of the sonar.
[in]	_pose	Sonar pose.
[in]	_minRange	Minimum sonar range.
[in]	_maxRange	Maximum sonar range.
[in]	_radius	Sonar cone radius.

void SpawnSphere ( const std::string &  _name, const math::Vector3 &  _pos, const math::Vector3 &  _rpy, bool  _wait = true, bool  _static = false  )

inlineprotected

Spawn a sphere.

Parameters

[in]	_name	Name for the model.
[in]	_pos	Position for the model.
[in]	_rpy	Roll, pitch, yaw for the model.
[in]	_static	True to make the model static.
[in]	_wait	True to wait for the sphere to spawn before returning.

Deprecated:

See function that accepts ignition::math parameters

References Vector3::Ign().

void SpawnSphere ( const std::string &  _name, const ignition::math::Vector3d &  _pos, const ignition::math::Vector3d &  _rpy, bool  _wait = true, bool  _static = false  )

protected

Spawn a sphere.

Parameters

[in]	_name	Name for the model.
[in]	_pos	Position for the model.
[in]	_rpy	Roll, pitch, yaw for the model.
[in]	_static	True to make the model static.
[in]	_wait	True to wait for the sphere to spawn before returning.

void SpawnSphere ( const std::string &  _name, const math::Vector3 &  _pos, const math::Vector3 &  _rpy, const math::Vector3 &  _cog, double  _radius, bool  _wait = true, bool  _static = false  )

inlineprotected

Spawn a sphere.

Parameters

[in]	_name	Name for the model.
[in]	_pos	Position for the model.
[in]	_rpy	Roll, pitch, yaw for the model.
[in]	_cog	Center of gravity.
[in]	_radius	Sphere radius.
[in]	_static	True to make the model static.
[in]	_wait	True to wait for the sphere to spawn before returning.

Deprecated:

See function that accepts ignition::math parameters

References Vector3::Ign().

void SpawnSphere ( const std::string &  _name, const ignition::math::Vector3d &  _pos, const ignition::math::Vector3d &  _rpy, const ignition::math::Vector3d &  _cog, double  _radius = 1.0, bool  _wait = true, bool  _static = false  )

protected

Spawn a sphere.

Parameters

[in]	_name	Name for the model.
[in]	_pos	Position for the model.
[in]	_rpy	Roll, pitch, yaw for the model.
[in]	_cog	Center of gravity.
[in]	_radius	Sphere radius.
[in]	_static	True to make the model static.
[in]	_wait	True to wait for the sphere to spawn before returning.

void SpawnTrimesh ( const std::string &  _name, const std::string &  _modelPath, const math::Vector3 &  _scale, const math::Vector3 &  _pos, const math::Vector3 &  _rpy, bool  _static = false  )

inlineprotected

Spawn a triangle mesh.

Parameters

[in]	_name	Name for the model.
[in]	_modelPath	Path to the mesh file.
[in]	_scale	Scaling factor.
[in]	_pos	Position for the model.
[in]	_rpy	Roll, pitch, yaw for the model.
[in]	_static	True to make the model static.

Deprecated:

See function that accepts ignition::math parameters

References Vector3::Ign().

void SpawnTrimesh ( const std::string &  _name, const std::string &  _modelPath, const ignition::math::Vector3d &  _scale = ignition::math::Vector3d::One, const ignition::math::Vector3d &  _pos = ignition::math::Vector3d::Zero, const ignition::math::Vector3d &  _rpy = ignition::math::Vector3d::Zero, bool  _static = false  )

protected

Spawn a triangle mesh.

Parameters

[in]	_name	Name for the model.
[in]	_modelPath	Path to the mesh file.
[in]	_scale	Scaling factor.
[in]	_pos	Position for the model.
[in]	_rpy	Roll, pitch, yaw for the model.
[in]	_static	True to make the model static.

void SpawnUnitAltimeterSensor ( const std::string &  _name, const std::string &  _sensorName, const std::string &  _collisionType, const std::string &  _topic, const ignition::math::Vector3d &  _pos = ignition::math::Vector3d::Zero, const ignition::math::Vector3d &  _rpy = ignition::math::Vector3d::Zero, bool  _static = false  )

protected

Spawn an altimeter sensor on a link.

Parameters

[in]	_name	Model name
[in]	_sensorName	Sensor name
[in]	_collisionType	Type of collision, box or cylinder
[in]	_topic	Topic to publish altimeter data to
[in]	_pos	World position
[in]	_rpy	World rotation in Euler angles
[in]	_static	True to make the model static

void SpawnUnitContactSensor ( const std::string &  _name, const std::string &  _sensorName, const std::string &  _collisionType, const math::Vector3 &  _pos, const math::Vector3 &  _rpy, bool  _static = false  )

inlineprotected

Spawn a contact sensor with the specified collision geometry.

Parameters

[in]	_name	Model name
[in]	_sensorName	Sensor name
[in]	_collisionType	Type of collision, box or cylinder
[in]	_pos	World position
[in]	_rpy	World rotation in Euler angles
[in]	_static	True to make the model static

Deprecated:

See function that accepts ignition::math parameters

References Vector3::Ign().

void SpawnUnitContactSensor ( const std::string &  _name, const std::string &  _sensorName, const std::string &  _collisionType, const ignition::math::Vector3d &  _pos = ignition::math::Vector3d::Zero, const ignition::math::Vector3d &  _rpy = ignition::math::Vector3d::Zero, bool  _static = false  )

protected

Spawn a contact sensor with the specified collision geometry.

Parameters

[in]	_name	Model name
[in]	_sensorName	Sensor name
[in]	_collisionType	Type of collision, box or cylinder
[in]	_pos	World position
[in]	_rpy	World rotation in Euler angles
[in]	_static	True to make the model static

void SpawnUnitImuSensor ( const std::string &  _name, const std::string &  _sensorName, const std::string &  _collisionType, const std::string &  _topic, const math::Vector3 &  _pos, const math::Vector3 &  _rpy, bool  _static = false  )

inlineprotected

Spawn an IMU sensor on a link.

Parameters

[in]	_name	Model name
[in]	_sensorName	Sensor name
[in]	_collisionType	Type of collision, box or cylinder
[in]	_topic	Topic to publish IMU data to
[in]	_pos	World position
[in]	_rpy	World rotation in Euler angles
[in]	_static	True to make the model static

Deprecated:

See function that accepts ignition::math parameters

References Vector3::Ign().

void SpawnUnitImuSensor ( const std::string &  _name, const std::string &  _sensorName, const std::string &  _collisionType, const std::string &  _topic, const ignition::math::Vector3d &  _pos = ignition::math::Vector3d::Zero, const ignition::math::Vector3d &  _rpy = ignition::math::Vector3d::Zero, bool  _static = false  )

protected

Spawn an IMU sensor on a link.

Parameters

[in]	_name	Model name
[in]	_sensorName	Sensor name
[in]	_collisionType	Type of collision, box or cylinder
[in]	_topic	Topic to publish IMU data to
[in]	_pos	World position
[in]	_rpy	World rotation in Euler angles
[in]	_static	True to make the model static

void SpawnUnitMagnetometerSensor ( const std::string &  _name, const std::string &  _sensorName, const std::string &  _collisionType, const std::string &  _topic, const ignition::math::Vector3d &  _pos = ignition::math::Vector3d::Zero, const ignition::math::Vector3d &  _rpy = ignition::math::Vector3d::Zero, bool  _static = false  )

protected

Spawn a magnetometer sensor on a link.

Parameters

[in]	_name	Model name
[in]	_sensorName	Sensor name
[in]	_collisionType	Type of collision, box or cylinder
[in]	_topic	Topic to publish magnetometer data to
[in]	_pos	World position
[in]	_rpy	World rotation in Euler angles
[in]	_static	True to make the model static

void SpawnWideAngleCamera ( const std::string &  _modelName, const std::string &  _cameraName, const ignition::math::Vector3d &  _pos = ignition::math::Vector3d::Zero, const ignition::math::Vector3d &  _rpy = ignition::math::Vector3d::Zero, unsigned int  _width = 320, unsigned int  _height = 240, double  _rate = 25, const double  _hfov = 60, const std::string &  _lensType = "stereographic", const bool  _scaleToHfov = true, const double  _cutoffAngle = 3.1415, const double  _envTextureSize = 512, const double  _c1 = 1.05, const double  _c2 = 4, const double  _f = 1.0, const std::string &  _fun = "tan"  )

protected

Spawn a wide angle camera.

Parameters

[in]	_modelName	Name of the model.
[in]	_cameraName	Name of the camera.
[in]	_pos	Camera position.
[in]	_rpy	Camera roll, pitch, yaw.
[in]	_width	Output image width.
[in]	_height	Output image height.
[in]	_rate	Output Hz.
[in]	_hfov	Horizontal field of view.
[in]	_lensType	Type of lens: gnomonical, stereographic, equidistant, equisolid_angle, or orthographic.
[in]	_scaleToHfov	True to use horizontal field of view as defined, otherwise it depends on lens type and custom function.
[in]	_cutoffAngle	Clip everything outside this angle
[in]	_envTextureSize	Cubemap environment texture size.
[in]	_c1	For "custom" lens type, the c1 coefficient used in the mapping function
[in]	_c2	For "custom" lens type, the c2 coefficient used in the mapping function
[in]	_f	For "custom" lens type, the focal length used in the mapping function
[in]	_fun	For "custom" lens type, the trigonometirc function used in the mapping function

void SpawnWirelessReceiverSensor ( const std::string &  _name, const std::string &  _sensorName, const math::Vector3 &  _pos, const math::Vector3 &  _rpy, double  _minFreq, double  _maxFreq, double  _power, double  _gain, double  _sensitivity, bool  _visualize = true  )

inlineprotected

Spawn an Wireless receiver sensor on a link.

Parameters

[in]	_name	Model name
[in]	_sensorName	Sensor name
[in]	_pos	World position
[in]	_rpy	World rotation in Euler angles
[in]	_minFreq	Minimum frequency to be filtered (MHz)
[in]	_maxFreq	Maximum frequency to be filtered (MHz)
[in]	_power	Transmission power (dBm)
[in]	_gain	Antenna gain (dBi)
[in]	_sensitivity	Receiver sensitibity (dBm)
[in]	_visualize	Enable sensor visualization

Deprecated:

See function that accepts ignition::math parameters

References Vector3::Ign().

void SpawnWirelessReceiverSensor ( const std::string &  _name, const std::string &  _sensorName, const ignition::math::Vector3d &  _pos, const ignition::math::Vector3d &  _rpy, double  _minFreq, double  _maxFreq, double  _power, double  _gain, double  _sensitivity, bool  _visualize = true  )

protected

Spawn an Wireless receiver sensor on a link.

Parameters

[in]	_name	Model name
[in]	_sensorName	Sensor name
[in]	_pos	World position
[in]	_rpy	World rotation in Euler angles
[in]	_minFreq	Minimum frequency to be filtered (MHz)
[in]	_maxFreq	Maximum frequency to be filtered (MHz)
[in]	_power	Transmission power (dBm)
[in]	_gain	Antenna gain (dBi)
[in]	_sensitivity	Receiver sensitibity (dBm)
[in]	_visualize	Enable sensor visualization

void SpawnWirelessTransmitterSensor ( const std::string &  _name, const std::string &  _sensorName, const math::Vector3 &  _pos, const math::Vector3 &  _rpy, const std::string &  _essid, double  _freq, double  _power, double  _gain, bool  _visualize = true  )

inlineprotected

Spawn an Wireless transmitter sensor on a link.

Parameters

[in]	_name	Model name
[in]	_sensorName	Sensor name
[in]	_pos	World position
[in]	_rpy	World rotation in Euler angles
[in]	_essid	Service set identifier (network name)
[in]	_freq	Frequency of transmission (MHz)
[in]	_power	Transmission power (dBm)
[in]	_gain	Antenna gain (dBi)
[in]	_visualize	Enable sensor visualization

Deprecated:

See function that accepts ignition::math parameters

References Vector3::Ign().

void SpawnWirelessTransmitterSensor ( const std::string &  _name, const std::string &  _sensorName, const ignition::math::Vector3d &  _pos, const ignition::math::Vector3d &  _rpy, const std::string &  _essid, double  _freq, double  _power, double  _gain, bool  _visualize = true  )

protected

Spawn an Wireless transmitter sensor on a link.

Parameters

[in]	_name	Model name
[in]	_sensorName	Sensor name
[in]	_pos	World position
[in]	_rpy	World rotation in Euler angles
[in]	_essid	Service set identifier (network name)
[in]	_freq	Frequency of transmission (MHz)
[in]	_power	Transmission power (dBm)
[in]	_gain	Antenna gain (dBi)
[in]	_visualize	Enable sensor visualization

virtual void TearDown ( )

protectedvirtual

Tear down the test fixture. This gets called by gtest.

virtual void Unload ( )

protectedvirtual

Unload the test fixture.

Reimplemented in RenderingFixture.

void WaitUntilEntitySpawn ( const std::string &  _name, unsigned int  _sleepEach, int  _retries  )

protected

Wait for a number of ms.

and attempts until the entity is spawned

Parameters

[in]	_name	Model name
[in]	_sleepEach	Number of milliseconds to sleep in each iteration
[in]	_retries	Number of iterations until give up

void WaitUntilIteration ( const uint32_t  _goalIteration, const int  _sleepEach, const int  _retries  ) const

protected

Wait for a number of ms.

and attempts until the world reaches a target "iterations" value

Parameters

_goalIteration	Target iterations value
_sleepEach	Number of milliseconds to sleep in each iteration
_retries	Number of iterations until give up

void WaitUntilSensorSpawn ( const std::string &  _name, unsigned int  _sleepEach, int  _retries  )

protected

Wait for a number of ms.

and attempts until the sensor is spawned

Parameters

[in]	_name	Sensor name
[in]	_sleepEach	Number of milliseconds to sleep in each iteration
[in]	_retries	Number of iterations until give up

void WaitUntilSimTime ( const common::Time &  _goalTime, const int  _ms, const int  _maxRetries  ) const

protected

Wait for a number of ms.

and attempts until the world reaches a target simulation time

Parameters

_goalTime	Target simulation time.
_sleepEach	Number of milliseconds to sleep in each iteration
_retries	Number of iterations until give up

Member Data Documentation

transport::PublisherPtr factoryPub

protected

Factory publisher.

transport::NodePtr node

protected

Pointer to a node for communication.

common::Time pauseTime

protected

std::map<std::string, ignition::math::Pose3d> poses

protected

Map of received poses.

transport::SubscriberPtr poseSub

protected

Pose subscription.

common::Time realTime

protected

std::mutex receiveMutex

protected

Mutex to protect data structures that store messages.

transport::PublisherPtr requestPub

protected

Request publisher.

Server* server

protected

Pointer the Gazebo server.

boost::thread* serverThread

protected

Pointer the thread the runs the server.

common::Time simTime

protected

Current simulation time, real time, and pause time.

transport::SubscriberPtr statsSub

protected

World statistics subscription.

---

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

• ServerFixture.hh