keeps track of state of a physics::Joint More...

#include <physics/physics.hh>

Inherits State.

Public Member Functions
	JointState ()
	Default constructor. More...

	JointState (JointPtr _joint, const common::Time &_realTime, const common::Time &_simTime, const uint64_t _iterations)
	Constructor. More...

	JointState (JointPtr _joint)
	Constructor. More...

	JointState (const sdf::ElementPtr _sdf)
	Constructor. More...

virtual	~JointState ()
	Destructor. More...

void	FillSDF (sdf::ElementPtr _sdf)
	Populate a state SDF element with data from the object. More...

math::Angle	GetAngle (unsigned int _axis) const GAZEBO_DEPRECATED(8.0)
	Get the joint angle. More...

unsigned int	GetAngleCount () const
	Get the number of angles. More...

const std::vector< math::Angle >	GetAngles () const GAZEBO_DEPRECATED(8.0)
	Get the angles. More...

uint64_t	GetIterations () const
	Get the iterations when this state was generated. More...

std::string	GetName () const
	Get the name associated with this State. More...

common::Time	GetRealTime () const
	Get the real time when this state was generated. More...

common::Time	GetSimTime () const
	Get the sim time when this state was generated. More...

common::Time	GetWallTime () const
	Get the wall time when this state was generated. More...

bool	IsZero () const
	Return true if the values in the state are zero. More...

void	Load (JointPtr _joint, const common::Time &_realTime, const common::Time &_simTime)
	Load. More...

virtual void	Load (const sdf::ElementPtr _elem)
	Load state from SDF element. More...

JointState	operator+ (const JointState &_state) const
	Addition operator. More...

State	operator- (const State &_state) const
	Subtraction operator. More...

JointState	operator- (const JointState &_state) const
	Subtraction operator. More...

JointState &	operator= (const JointState &_state)
	Assignment operator. More...

double	Position (const unsigned int _axis=0) const
	Get the joint position. More...

const std::vector< double > &	Positions () const
	Get the joint positions. More...

virtual void	SetIterations (const uint64_t _iterations)
	Set the iterations when this state was generated. More...

void	SetName (const std::string &_name)
	Set the name associated with this State. More...

virtual void	SetRealTime (const common::Time &_time)
	Set the real time when this state was generated. More...

virtual void	SetSimTime (const common::Time &_time)
	Set the sim time when this state was generated. More...

virtual void	SetWallTime (const common::Time &_time)
	Set the wall time when this state was generated. More...

Protected Attributes
uint64_t	iterations = 0
	The number of simulation iterations when this state was generated. More...

std::string	name
	Name associated with this State. More...

common::Time	realTime

common::Time	simTime

common::Time	wallTime
	Times for the state data. More...

Friends
std::ostream &	operator<< (std::ostream &_out, const gazebo::physics::JointState &_state)
	Stream insertion operator. More...

Detailed Description

keeps track of state of a physics::Joint

Constructor & Destructor Documentation

JointState ( )

Default constructor.

JointState	(	JointPtr	_joint,
		const common::Time &	_realTime,
		const common::Time &	_simTime,
		const uint64_t	_iterations
	)

Constructor.

Parameters

[in]	_joint	Joint to get the state of.
[in]	_realTime	Real time stamp.
[in]	_simTime	Sim time stamp.
[in]	_iterations	Simulation iterations.

JointState ( JointPtr _joint )

explicit

Constructor.

Parameters

[in] _joint Joint to get the state of.

JointState ( const sdf::ElementPtr _sdf )

explicit

Constructor.

Build a JointState from SDF data

Parameters

[in] _sdf SDF data to load a joint state from.

virtual ~JointState ( )

virtual

Destructor.

Member Function Documentation

void FillSDF ( sdf::ElementPtr _sdf )

Populate a state SDF element with data from the object.

Parameters

[out] _sdf SDF element to populate.

math::Angle GetAngle ( unsigned int _axis ) const

Get the joint angle.

Parameters

[in] _axis The axis index.

Returns: Angle of the axis.

Exceptions

common::Exception When _axis is invalid.

Deprecated:: See Position()

unsigned int GetAngleCount ( ) const

Get the number of angles.

Returns: The number of angles.

const std::vector<math::Angle> GetAngles ( ) const

Get the angles.

Returns: Vector of angles.

Deprecated:: See Positions()

uint64_t GetIterations ( ) const

inherited

Get the iterations when this state was generated.

Returns: Iterations when the data was recorded

std::string GetName ( ) const

inherited

Get the name associated with this State.

Returns: Name associated with this state information. Typically a name of an Entity.

common::Time GetRealTime ( ) const

inherited

Get the real time when this state was generated.

Returns: Clock time since simulation was stated.

common::Time GetSimTime ( ) const

inherited

Get the sim time when this state was generated.

Returns: Simulation time when the data was recorded.

common::Time GetWallTime ( ) const

inherited

Get the wall time when this state was generated.

Returns: The absolute clock time when the State data was recorded.

bool IsZero ( ) const

Return true if the values in the state are zero.

Returns: True if the values in the state are zero.

void Load	(	JointPtr	_joint,
		const common::Time &	_realTime,
		const common::Time &	_simTime
	)

Load.

Parameters

[in]	_joint	Joint to get the state of.
[in]	_realTime	Real time stamp.
[in]	_simTime	Sim time stamp.

virtual void Load ( const sdf::ElementPtr _elem )

virtual

Load state from SDF element.

Parameters

[in] _elem SDf values to load from.

Reimplemented from State.

JointState operator+ ( const JointState & _state ) const

Addition operator.

Parameters

[in] _pt A state to add.

Returns: The resulting state.

State operator- ( const State & _state ) const

inherited

Subtraction operator.

Parameters

[in] _pt A state to substract.

Returns: The resulting state.

JointState operator- ( const JointState & _state ) const

Subtraction operator.

Parameters

[in] _pt A state to substract.

Returns: The resulting state.

JointState& operator= ( const JointState & _state )

Assignment operator.

Parameters

[in] _state State value

Returns: this

double Position ( const unsigned int _axis = 0 ) const

Get the joint position.

For rotational axes, the value is in radians. For prismatic axes, it is in meters.

It returns ignition::math::NAN_D in case the position can't be obtained. For instance, if the index is invalid.

Parameters

[in] _index Index of the axis, defaults to 0.

Returns: Position of the axis.

Exceptions

common::Exception When _axis is invalid.

const std::vector<double>& Positions ( ) const

Get the joint positions.

For rotational axes, the value is in radians. For prismatic axes, it is in meters.

Returns: Vector of joint positions.

virtual void SetIterations ( const uint64_t _iterations )

virtualinherited

Set the iterations when this state was generated.

Parameters

[in] _iterations Iterations when the data was recorded.

Reimplemented in ModelState, WorldState, and LinkState.

void SetName ( const std::string & _name )

inherited

Set the name associated with this State.

Parameters

[in] _name Name associated with this state information. Typically the name of an Entity.

virtual void SetRealTime ( const common::Time & _time )

virtualinherited

Set the real time when this state was generated.

Parameters

[in] _time Clock time since simulation was stated.

Reimplemented in ModelState, WorldState, and LinkState.

virtual void SetSimTime ( const common::Time & _time )

virtualinherited

Set the sim time when this state was generated.

Parameters

[in] _time Simulation time when the data was recorded.

Reimplemented in ModelState, WorldState, and LinkState.

virtual void SetWallTime ( const common::Time & _time )

virtualinherited

Set the wall time when this state was generated.

Parameters

[in] _time The absolute clock time when the State data was recorded.

Reimplemented in ModelState, WorldState, and LinkState.

Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	_out,
		const gazebo::physics::JointState &	_state
	)

friend

Stream insertion operator.

Parameters

[in]	_out	output stream.
[in]	_state	Joint state to output.

Returns: The stream.

Member Data Documentation

uint64_t iterations = 0

protectedinherited

The number of simulation iterations when this state was generated.

std::string name

protectedinherited

Name associated with this State.

common::Time realTime

protectedinherited

common::Time simTime

protectedinherited

common::Time wallTime

protectedinherited

Times for the state data.

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

JointState.hh

Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation