Store state information of a physics::Link object. More...

#include <physics/physics.hh>

Inherits State.

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

	LinkState (const LinkPtr _link, const common::Time &_realTime, const common::Time &_simTime, const uint64_t _iterations)
	Constructor. More...

	LinkState (const LinkPtr _link)
	Constructor. More...

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

virtual	~LinkState ()
	Destructor. More...

const ignition::math::Pose3d &	Acceleration () const
	Get the link acceleration. More...

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

const math::Pose	GetAcceleration () const GAZEBO_DEPRECATED(8.0)
	Get the link acceleration. More...

CollisionState	GetCollisionState (unsigned int _index) const
	Get a collision state. More...

CollisionState	GetCollisionState (const std::string &_collisionName) const
	Get a link state by link name. More...

unsigned int	GetCollisionStateCount () const
	Get the number of link states. More...

const std::vector < CollisionState > &	GetCollisionStates () const
	Get the collision states. 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...

const math::Pose	GetPose () const GAZEBO_DEPRECATED(8.0)
	Get the link pose. 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...

const math::Pose	GetVelocity () const GAZEBO_DEPRECATED(8.0)
	Get the link velocity. More...

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

const math::Pose	GetWrench () const GAZEBO_DEPRECATED(8.0)
	Get the force applied to the Link. More...

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

void	Load (const LinkPtr _link, const common::Time &_realTime, const common::Time &_simTime, const uint64_t _iterations)
	Load a LinkState from a Link pointer. More...

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

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

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

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

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

const ignition::math::Pose3d &	Pose () const
	Get the link pose. More...

bool	RecordVelocity () const
	Get whether link velocity is recorded. More...

virtual void	SetIterations (const uint64_t _iterations)
	Set the simulation 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...

void	SetRecordVelocity (const bool _record)
	Set whether to record link velocity. 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...

const ignition::math::Pose3d &	Velocity () const
	Get the link velocity. More...

const ignition::math::Pose3d &	Wrench () const
	Get the force and torque applied to the Link. 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::LinkState &_state)
	Stream insertion operator. More...

Detailed Description

Store state information of a physics::Link object.

This class captures the entire state of a Link at one specific time during a simulation run.

State of a Link includes the state of itself all its child Collision entities.

Constructor & Destructor Documentation

LinkState ( )

Default constructor.

LinkState	(	const LinkPtr	_link,
		const common::Time &	_realTime,
		const common::Time &	_simTime,
		const uint64_t	_iterations
	)

Constructor.

Build a LinkState from an existing Link.

Parameters

[in]	_model	Pointer to the Link from which to gather state info.
[in]	_realTime	Real time stamp.
[in]	_simTime	Sim time stamp
[in]	_iterations	Simulation iterations.

LinkState ( const LinkPtr _link )

explicit

Constructor.

Build a LinkState from an existing Link.

Parameters

[in] _model Pointer to the Link from which to gather state info.

LinkState ( const sdf::ElementPtr _sdf )

explicit

Constructor.

Build a LinkState from SDF data

Parameters

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

virtual ~LinkState ( )

virtual

Destructor.

Member Function Documentation

const ignition::math::Pose3d& Acceleration ( ) const

Get the link acceleration.

Returns: The acceleration represented as a ignition::math::Pose3d.

void FillSDF ( sdf::ElementPtr _sdf )

Populate a state SDF element with data from the object.

Parameters

[out] _sdf SDF element to populate.

const math::Pose GetAcceleration ( ) const

Get the link acceleration.

Returns: The acceleration represented as a math::Pose.

Deprecated:: See function that returns ign-math.

CollisionState GetCollisionState ( unsigned int _index ) const

Get a collision state.

Get a Collision State based on an index, where index is in the range of 0...LinkState::GetCollisionStateCount.

Parameters

[in] _index Index of the CollisionState.

Returns: State of the Collision.

Exceptions

common::Exception When _index is invalid.

CollisionState GetCollisionState ( const std::string & _collisionName ) const

Get a link state by link name.

Searches through all CollisionStates. Returns the CollisionState with the matching name, if any.

Parameters

[in] _collisionName Name of the CollisionState

Returns: State of the Collision.

Exceptions

common::Exception When _collisionName is invalid

unsigned int GetCollisionStateCount ( ) const

Get the number of link states.

This returns the number of Collisions recorded.

Returns: Number of CollisionState recorded.

const std::vector<CollisionState>& GetCollisionStates ( ) const

Get the collision states.

Returns: A vector of collision states.

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.

const math::Pose GetPose ( ) const

Get the link pose.

Returns: The math::Pose of the Link.

Deprecated:: See function that returns ign-math.

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.

const math::Pose GetVelocity ( ) const

Get the link velocity.

Returns: The velocity represented as an math::Pose.

Deprecated:: See function that returns ign-math.

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.

const math::Pose GetWrench ( ) const

Get the force applied to the Link.

Returns: Magnitude of the force.

Deprecated:: See function that returns ign-math.

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	(	const LinkPtr	_link,
		const common::Time &	_realTime,
		const common::Time &	_simTime,
		const uint64_t	_iterations
	)

Load a LinkState from a Link pointer.

Build a LinkState from an existing Link.

Parameters

[in]	_model	Pointer to the Link from which to gather state info.
[in]	_realTime	Real time stamp.
[in]	_simTime	Sim time stamp.
[in]	_iterations	Simulation iterations.

virtual void Load ( const sdf::ElementPtr _elem )

virtual

Load state from SDF element.

Load LinkState information from stored data in and SDF::Element.

Parameters

[in] _elem Pointer to the SDF::Element containing state info.

Reimplemented from State.

LinkState operator+ ( const LinkState & _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.

LinkState operator- ( const LinkState & _state ) const

Subtraction operator.

Parameters

[in] _pt A state to substract.

Returns: The resulting state.

LinkState& operator= ( const LinkState & _state )

Assignment operator.

Parameters

[in] _state State value

Returns: this

const ignition::math::Pose3d& Pose ( ) const

Get the link pose.

Returns: The ignition::math::Pose3d of the Link.

bool RecordVelocity ( ) const

Get whether link velocity is recorded.

Returns: True if link velocity is recorded

virtual void SetIterations ( const uint64_t _iterations )

virtual

Set the simulation iterations when this state was generated.

Parameters

[in] _iterations Simulation iterations when the data was recorded.

Reimplemented from State.

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 )

virtual

Set the real time when this state was generated.

Parameters

[in] _time Clock time since simulation was stated.

Reimplemented from State.

void SetRecordVelocity ( const bool _record )

Set whether to record link velocity.

Parameters

[in] _record True to record link velocity, false to leave it out of the log

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

virtual

Set the sim time when this state was generated.

Parameters

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

Reimplemented from State.

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

virtual

Set the wall time when this state was generated.

Parameters

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

Reimplemented from State.

const ignition::math::Pose3d& Velocity ( ) const

Get the link velocity.

Returns: The velocity represented as a ignition::math::Pose3d.

const ignition::math::Pose3d& Wrench ( ) const

Get the force and torque applied to the Link.

Returns: The wrench represented as an ignition::math::Pose3d.

Friends And Related Function Documentation

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

friend

Stream insertion operator.

Parameters

[in]	_out	output stream
[in]	_state	Link state to output

Returns: the stream

Disabling this for efficiency.

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:

LinkState.hh

Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation