Base class for Ray collision geometry. More...

#include <physics/physics.hh>

Inherits Shape.

Inherited by BulletRayShape, DARTRayShape, ODERayShape, and SimbodyRayShape.

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
	RayShape (PhysicsEnginePtr _physicsEngine)
	Constructor for a global ray. More...

	RayShape (CollisionPtr _parent)
	Constructor. More...

virtual	~RayShape ()
	Destructor. More...

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

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

std::string	CollisionName () const
	Get the name of the object this ray collided with. More...

virtual double	ComputeVolume () const
	Documentation inherited. More...

ignition::math::Vector3d	End () const
	Get the end point. More...

void	FillMsg (msgs::Geometry &_msg)
	Fill a message with data from this 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	GetFiducial () const
	Get the fiducial id detected by this ray. More...

virtual void	GetGlobalPoints (math::Vector3 &_posA, math::Vector3 &_posB) GAZEBO_DEPRECATED(8.0)
	Get the global starting and ending points. More...

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

virtual void	GetIntersection (double &_dist, std::string &_entity)=0
	Get the nearest intersection. More...

double	GetLength () const
	Get the length of the ray. 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...

virtual void	GetRelativePoints (math::Vector3 &_posA, math::Vector3 &_posB) GAZEBO_DEPRECATED(8.0)
	Get the relative starting and ending points. More...

float	GetRetro () const
	Get the retro-reflectivness detected by this ray. 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)
	Get the scale of the shape. 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...

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

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

virtual void	GlobalPoints (ignition::math::Vector3d &_posA, ignition::math::Vector3d &_posB)
	Get the global starting and ending points. More...

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

virtual void	Init ()
	In the ray. More...

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

virtual void	Load (sdf::ElementPtr _sdf)
	Load. 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)
	Update this shape from a message. More...

virtual void	RelativePoints (ignition::math::Vector3d &_posA, ignition::math::Vector3d &_posB)
	Get the relative starting and ending points. 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
	Get the scale of the shape. More...

void	SetFiducial (int _fid)
	Set the fiducial id detected by this ray. More...

virtual void	SetLength (double _len)
	Set the length of the ray. More...

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

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

virtual void	SetPoints (const math::Vector3 &_posStart, const math::Vector3 &_posEnd) GAZEBO_DEPRECATED(8.0)
	Set the ray based on starting and ending points relative to the body. More...

virtual void	SetPoints (const ignition::math::Vector3d &_posStart, const ignition::math::Vector3d &_posEnd)
	Set the ray based on starting and ending points relative to the body. More...

void	SetRetro (float _retro)
	Set the retro-reflectivness detected by this ray. 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...

virtual void	SetScale (const ignition::math::Vector3d &_scale)
	Set the scale of the ray. 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...

ignition::math::Vector3d	Start () const
	Get the start point. More...

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

virtual void	Update ()=0
	Update the ray collision. 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...

void	SetCollisionName (const std::string &_name)
	Set the name of the object this ray has collided with. 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...

int	contactFiducial
	Fiducial ID value. More...

double	contactLen
	Length of the ray. More...

double	contactRetro
	Retro reflectance value. More...

ignition::math::Vector3d	globalEndPos
	End position of the ray in global cs. More...

ignition::math::Vector3d	globalStartPos
	Start position of the ray in global cs. More...

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

BasePtr	parent
	Parent of this entity. More...

ignition::math::Vector3d	relativeEndPos
	End position of the ray, relative to the body. More...

ignition::math::Vector3d	relativeStartPos
	Start position of the ray, relative to the body. 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

Base class for Ray collision geometry.

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

RayShape ( PhysicsEnginePtr _physicsEngine )

explicit

Constructor for a global ray.

Parameters

[in] _physicsEngine Pointer to the physics engine.

RayShape ( CollisionPtr _parent )

explicit

Constructor.

Parameters

[in] _parent Collision parent of the shape.

virtual ~RayShape ( )

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.

std::string CollisionName ( ) const

Get the name of the object this ray collided with.

Returns: Collision object name

void ComputeScopedName ( )

protectedinherited

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

See Also: Base::GetScopedName

virtual double ComputeVolume ( ) const

virtual

Documentation inherited.

Reimplemented from Shape.

ignition::math::Vector3d End ( ) const

Get the end point.

Returns: Position of the ray end

void FillMsg ( msgs::Geometry & _msg )

virtual

Fill a message with data from this object.

Parameters

[out] _msg Message to fill. Implement this function.

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 GetFiducial ( ) const

Get the fiducial id detected by this ray.

Returns: Fiducial id detected.

virtual void GetGlobalPoints	(	math::Vector3 &	_posA,
		math::Vector3 &	_posB
	)

virtual

Get the global starting and ending points.

Parameters

[out]	_posA	Returns the starting point.
[out]	_posB	Returns the ending point.

Deprecated:: See version that accepts ignition math objects.

uint32_t GetId ( ) const

inherited

Return the ID of this entity.

This id is unique.

Returns: Integer ID.

virtual void GetIntersection	(	double &	_dist,
		std::string &	_entity
	)

pure virtual

Get the nearest intersection.

Parameters

[out]	_dist	Distance to the intersection.
[out]	_entity	Name of the entity the ray intersected with.

Implemented in DARTRayShape, ODERayShape, SimbodyRayShape, and BulletRayShape.

double GetLength ( ) const

Get the length of the ray.

Returns: The ray length.

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.

virtual void GetRelativePoints	(	math::Vector3 &	_posA,
		math::Vector3 &	_posB
	)

virtual

Get the relative starting and ending points.

Parameters

[in]	_posA	Returns the starting point.
[in]	_posB	Returns the ending point.

Deprecated:: See version that accepts ignition math objects.

float GetRetro ( ) const

Get the retro-reflectivness detected by this ray.

Returns: Retro reflectance value.

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

virtualinherited

Get the scale of the shape.

Returns: Scale of the shape.

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

Reimplemented in MapShape.

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.

unsigned int GetType ( ) const

inherited

Get the full type definition.

Returns: The full type definition.

const WorldPtr& GetWorld ( ) const

inherited

Get the World this object is in.

Returns: The World this object is part of.

virtual void GlobalPoints	(	ignition::math::Vector3d &	_posA,
		ignition::math::Vector3d &	_posB
	)

virtual

Get the global starting and ending points.

Parameters

[out]	_posA	Returns the starting point.
[out]	_posB	Returns the ending point.

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

In the ray.

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 )

virtualinherited

Load.

Parameters

[in] node Pointer to an SDF parameters

Reimplemented in Joint, Actor, Link, Model, Entity, SimbodySliderJoint, BallJoint< ODEJoint >, BallJoint< DARTJoint >, BallJoint< SimbodyJoint >, BallJoint< BulletJoint >, UniversalJoint< ODEJoint >, UniversalJoint< DARTJoint >, UniversalJoint< SimbodyJoint >, UniversalJoint< BulletJoint >, MapShape, GearboxJoint< ODEJoint >, Hinge2Joint< ODEJoint >, Hinge2Joint< DARTJoint >, Hinge2Joint< SimbodyJoint >, Hinge2Joint< BulletJoint >, HeightmapShape, ODEJoint, BulletScrewJoint, HingeJoint< ODEJoint >, HingeJoint< DARTJoint >, HingeJoint< SimbodyJoint >, HingeJoint< BulletJoint >, BulletBallJoint, BulletCollision, Collision, Road, ScrewJoint< ODEJoint >, ScrewJoint< DARTJoint >, ScrewJoint< SimbodyJoint >, ScrewJoint< BulletJoint >, BulletHinge2Joint, DARTJoint, DARTMeshShape, SliderJoint< ODEJoint >, SliderJoint< DARTJoint >, SliderJoint< SimbodyJoint >, SliderJoint< BulletJoint >, BulletJoint, DARTModel, ODECollision, ODEHinge2Joint, ODEHingeJoint, SimbodyCollision, SimbodyFixedJoint, FixedJoint< ODEJoint >, FixedJoint< DARTJoint >, FixedJoint< SimbodyJoint >, FixedJoint< BulletJoint >, BulletUniversalJoint, DARTCollision, DARTLink, ODESliderJoint, SimbodyUniversalJoint, BulletFixedJoint, BulletHingeJoint, BulletSliderJoint, ODEGearboxJoint, SimbodyHinge2Joint, SimbodyHingeJoint, SimbodyLink, SimbodyScrewJoint, BulletLink, ODEFixedJoint, SimbodyJoint, DARTFixedJoint, DARTHinge2Joint, DARTHingeJoint, DARTScrewJoint, ODELink, DARTPolylineShape, DARTUniversalJoint, ODEMeshShape, ODEScrewJoint, SimbodyBallJoint, SimbodyMeshShape, BulletMeshShape, BulletPolylineShape, DARTBallJoint, DARTSliderJoint, ODEPolylineShape, SimbodyModel, and SimbodyPolylineShape.

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

Update this shape from a message.

Parameters

[in] _msg Message to update from. Implement this function.

Implements Shape.

virtual void RegisterIntrospectionItems ( )

protectedvirtualinherited

Register items in the introspection service.

Reimplemented in Link, Joint, and Model.

virtual void RelativePoints	(	ignition::math::Vector3d &	_posA,
		ignition::math::Vector3d &	_posB
	)

virtual

Get the relative starting and ending points.

Parameters

[in]	_posA	Returns the starting point.
[in]	_posB	Returns the ending point.

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

virtualinherited

Get the scale of the shape.

Returns: Scale of the shape.

Reimplemented in MapShape.

void SetCollisionName ( const std::string & _name )

protected

Set the name of the object this ray has collided with.

This function should only be called from a collision detection engine. Used by MultiRayShape

void SetFiducial ( int _fid )

Set the fiducial id detected by this ray.

Parameters

[in] _fid Fiducial id detected by this ray.

virtual void SetLength ( double _len )

virtual

Set the length of the ray.

Parameters

[in] _len Length of the array.

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.

virtual void SetPoints	(	const math::Vector3 &	_posStart,
		const math::Vector3 &	_posEnd
	)

virtual

Set the ray based on starting and ending points relative to the body.

Parameters

[in]	_posStart	Start position, relative the body.
[in]	_posEnd	End position, relative to the body.

Deprecated:: See version that accepts ignition math objects.

virtual void SetPoints	(	const ignition::math::Vector3d &	_posStart,
		const ignition::math::Vector3d &	_posEnd
	)

virtual

Set the ray based on starting and ending points relative to the body.

Parameters

[in]	_posStart	Start position, relative the body.
[in]	_posEnd	End position, relative to the body.

Reimplemented in DARTRayShape, ODERayShape, BulletRayShape, and SimbodyRayShape.

void SetRetro ( float _retro )

Set the retro-reflectivness detected by this ray.

Parameters

[in] _retro Retro reflectance value.

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.

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

virtual

Set the scale of the ray.

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.

ignition::math::Vector3d Start ( ) const

Get the start point.

Returns: Position of the ray start

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.

virtual void Update ( )

pure virtual

Update the ray collision.

Reimplemented from Base.

Implemented in DARTRayShape, ODERayShape, SimbodyRayShape, and BulletRayShape.

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().

int contactFiducial

protected

Fiducial ID value.

double contactLen

protected

Length of the ray.

double contactRetro

protected

Retro reflectance value.

ignition::math::Vector3d globalEndPos

protected

End position of the ray in global cs.

ignition::math::Vector3d globalStartPos

protected

Start position of the ray in global cs.

std::vector<common::URI> introspectionItems

protectedinherited

All the introspection items regsitered for this.

BasePtr parent

protectedinherited

Parent of this entity.

ignition::math::Vector3d relativeEndPos

protected

End position of the ray, relative to the body.

ignition::math::Vector3d relativeStartPos

protected

Start position of the ray, relative to the body.

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:

RayShape.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