Creates box extrusions based on an image. More...

#include <physics/physics.hh>

Inherits Shape.

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
	MapShape (CollisionPtr _parent)
	Constructor. More...

virtual	~MapShape ()
	Destructor. More...

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

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

virtual double	ComputeVolume () const
	Get the volume of this shape. More...

void	FillMsg (msgs::Geometry &_msg)
	Fills out a msgs::Geometry message containing information about this map geometry object. More...

virtual void	Fini ()
	Finialize the object. 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...

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

int	GetGranularity () const
	Returns granularity of this geometry. More...

double	GetHeight () const
	Returns height of this geometry. More...

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

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

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

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

bool	GetSaveable () const
	Get whether the object should be "saved", when the user selects to save the world to xml. More...

virtual math::Vector3	GetScale () const GAZEBO_DEPRECATED(8.0)
	Returns scaling factor for this geometry. 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...

int	GetThreshold () const
	Returns image threshold for this geometry. More...

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

std::string	GetURI () const
	Returns the image URI for this geometry. More...

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

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

virtual void	Init ()
	Init the map. More...

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

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

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

void	Print (const std::string &_prefix)
	Print this object to screen via gzmsg. More...

virtual void	ProcessMsg (const msgs::Geometry &_msg)
	: Implement this function. More...

virtual void	RemoveChild (unsigned int _id)
	Remove a child from this entity. More...

void	RemoveChild (const std::string &_name)
	Remove a child by name. More...

void	RemoveChild (physics::BasePtr _child)
	Remove a child by pointer. More...

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

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

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

virtual ignition::math::Vector3d	Scale () const
	Returns scaling factor for this geometry. More...

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

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

void	SetSaveable (bool _v)
	Set whether the object should be "saved", when the user selects to save the world to xml. More...

virtual void	SetScale (const math::Vector3 &_scale) GAZEBO_DEPRECATED(8.0)
	Set the scale of the shape. More...

void	SetScale (const ignition::math::Vector3d &_scale)
	Set the scale of the map shape. More...

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

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

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

void	Update ()
	Update function. More...

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

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

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

virtual void	RegisterIntrospectionItems ()
	Register items in the introspection service. More...

virtual void	UnregisterIntrospectionItems ()
	Unregister items in the introspection service. More...

Protected Attributes
Base_V	children
	Children of this entity. More...

CollisionPtr	collisionParent
	This shape's collision parent. More...

std::vector< common::URI >	introspectionItems
	All the introspection items regsitered for this. More...

BasePtr	parent
	Parent of this entity. More...

ignition::math::Vector3d	scale = ignition::math::Vector3d::One
	This shape's scale;. More...

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

WorldPtr	world
	Pointer to the world. More...

Detailed Description

Creates box extrusions based on an image.

This function is not yet complete, to be implemented.

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

MapShape ( CollisionPtr _parent )

explicit

Constructor.

Parameters

[in] _parent Parent collision object.

virtual ~MapShape ( )

virtual

Destructor.

Member Function Documentation

void AddChild ( BasePtr _child )

inherited

Add a child to this entity.

Parameters

[in] _child Child entity.

void AddType ( EntityType _type )

inherited

Add a type specifier.

Parameters

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

void ComputeScopedName ( )

protectedinherited

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

See Also: Base::GetScopedName

virtual double ComputeVolume ( ) const

virtualinherited

Get the volume of this shape.

Implemented accurately for simple shapes; an approximation is used for meshes, polylines, etc.

Returns: The shape volume in kg/m^3.

Reimplemented in MultiRayShape, RayShape, HeightmapShape, PlaneShape, CylinderShape, BoxShape, and SphereShape.

void FillMsg ( msgs::Geometry & _msg )

virtual

Fills out a msgs::Geometry message containing information about this map geometry object.

Parameters

[in] _msg Message to fill with this object's data.

Implements Shape.

virtual void Fini ( )

virtualinherited

Finialize the object.

Reimplemented in Joint, Actor, Link, Model, Entity, DARTModel, ODEJoint, Road, DARTCollision, DARTLink, BulletJoint, ODECollision, SimbodyLink, BulletLink, ODELink, and Collision.

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

unsigned int GetChildCount ( ) const

inherited

Get the number of children.

Returns: The number of children.

int GetGranularity ( ) const

Returns granularity of this geometry.

Returns: Granularity (amount of error betweent the image pixels and the 3D shapes created).

double GetHeight ( ) const

Returns height of this geometry.

All regions in image with value larger than MapShape::scale will be replaced by boxes with MapShape::height.

Returns: Height of the map shapes.

uint32_t GetId ( ) const

inherited

Return the ID of this entity.

This id is unique.

Returns: Integer ID.

std::string GetName ( ) const

inherited

Return the name of the entity.

Returns: Name of the entity.

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.

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.

virtual math::Vector3 GetScale ( ) const

virtual

Returns scaling factor for this geometry.

Returns: Scaling factor.

Deprecated:: See ignition::math::Vector3d Scale() const

Reimplemented from Shape.

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.

int GetThreshold ( ) const

Returns image threshold for this geometry.

All regions in image with value larger than MapShape::scale will be replaced by boxes with MapShape::height.

Returns: Image threshold value.

unsigned int GetType ( ) const

inherited

Get the full type definition.

Returns: The full type definition.

std::string GetURI ( ) const

Returns the image URI for this geometry.

Returns: The image URI that was used to load the map.

const WorldPtr& GetWorld ( ) const

inherited

Get the World this object is in.

Returns: The World this object is part of.

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

Init the map.

Implements Shape.

bool IsSelected ( ) const

inherited

True if the entity is selected by the user.

Returns: True if the entity is selected.

virtual void Load ( sdf::ElementPtr _sdf )

virtual

Load the map.

Parameters

[in] _sdf Load the map from SDF values.

Reimplemented from Base.

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 Print ( const std::string & _prefix )

inherited

Print this object to screen via gzmsg.

Parameters

[in] _prefix Usually a set of spaces.

virtual void ProcessMsg ( const msgs::Geometry & _msg )

virtual

: Implement this function.

Parameters

[in] _msg Message to process, which will alter the map.

Implements Shape.

virtual void RegisterIntrospectionItems ( )

protectedvirtualinherited

Register items in the introspection service.

Reimplemented in Link, Joint, and Model.

virtual void RemoveChild ( unsigned int _id )

virtualinherited

Remove a child from this entity.

Parameters

[in] _id ID of the child to remove.

void RemoveChild ( const std::string & _name )

inherited

Remove a child by name.

Parameters

[in] _name Name of the child.

void RemoveChild ( physics::BasePtr _child )

inherited

Remove a child by pointer.

Parameters

[in] _child Pointer to the child.

void RemoveChildren ( )

inherited

Remove all children.

virtual void Reset ( )

virtualinherited

Reset the object.

Reimplemented in Joint, Model, Link, Entity, ODEJoint, DARTJoint, BulletJoint, and SimbodyJoint.

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

virtual ignition::math::Vector3d Scale ( ) const

virtual

Returns scaling factor for this geometry.

Returns: Scaling factor.

Reimplemented from Shape.

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

virtualinherited

Set the name of the entity.

Parameters

[in] _name New name.

Reimplemented in Entity.

void SetParent ( BasePtr _parent )

inherited

Set the parent.

Parameters

[in] _parent Parent object.

void SetSaveable ( bool _v )

inherited

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

Parameters

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

virtual void SetScale ( const math::Vector3 & _scale )

virtualinherited

Set the scale of the shape.

Parameters

[in] _scale Scale to set the shape to.

void SetScale ( const ignition::math::Vector3d & _scale )

virtual

Set the scale of the map shape.

Parameters

[in] _scale Scale to set the map shape to.

Implements Shape.

virtual bool SetSelected ( bool _show )

virtualinherited

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

Parameters

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

Reimplemented in Link.

void 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.

std::string TypeStr ( ) const

inherited

Get the string name for the entity type.

Returns: The string name for this entity.

virtual void UnregisterIntrospectionItems ( )

protectedvirtualinherited

Unregister items in the introspection service.

void Update ( )

virtual

Update function.

Reimplemented from Base.

virtual void UpdateParameters ( sdf::ElementPtr _sdf )

virtualinherited

Update the parameters using new sdf values.

Parameters

[in] _sdf Update the object's parameters based on SDF values.

Reimplemented in Joint, Actor, Link, Model, Entity, and Collision.

common::URI URI ( ) const

inherited

Return the common::URI of this entity.

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

Returns: The URI of this entity.

Member Data Documentation

Base_V children

protectedinherited

Children of this entity.

CollisionPtr collisionParent

protectedinherited

This shape's collision parent.

Referenced by ODEPlaneShape::CreatePlane(), BulletPlaneShape::CreatePlane(), ODEPlaneShape::SetAltitude(), SimbodySphereShape::SetRadius(), ODESphereShape::SetRadius(), BulletSphereShape::SetRadius(), SimbodyBoxShape::SetSize(), ODECylinderShape::SetSize(), SimbodyCylinderShape::SetSize(), BulletCylinderShape::SetSize(), BulletBoxShape::SetSize(), and ODEBoxShape::SetSize().

std::vector<common::URI> introspectionItems

protectedinherited

All the introspection items regsitered for this.

BasePtr parent

protectedinherited

Parent of this entity.

ignition::math::Vector3d scale = ignition::math::Vector3d::One

protectedinherited

This shape's scale;.

sdf::ElementPtr sdf

protectedinherited

The SDF values for this object.

WorldPtr world

protectedinherited

Pointer to the world.

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

MapShape.hh

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation