Classes and functions used by multiple modules. More...

Files
file	CommonTypes.hh

Namespaces
	gazebo::common
	Common namespace.

Classes
class	Animation
	Manages an animation, which is a collection of keyframes and the ability to interpolate between the keyframes. More...

class	AssertionInternalError
	Class for generating Exceptions which come from gazebo assertions. More...

class	AudioDecoder
	An audio decoder based on FFMPEG. More...

class	Battery
	A battery abstraction. More...

class	BVHLoader
	Handles loading BVH animation files. More...

class	ColladaExporter
	Class used to export Collada mesh files. More...

class	ColladaLoader
	Class used to load Collada mesh files. More...

class	Color
	Defines a color. More...

class	Console
	Container for loggers, and global logging options (such as verbose vs. More...

class	DEM
	Encapsulates a DEM (Digital Elevation Model) file. More...

class	Dem

class	Exception
	Class for generating exceptions. More...

class	FileLogger
	A logger that outputs messages to a file. More...

class	GTSMeshUtils
	Creates GTS utilities for meshes. More...

class	HeightmapData
	Encapsulates a generic heightmap data file. More...

class	HeightmapDataLoader
	Helper class for loading heightmap data. More...

class	Image
	Encapsulates an image. More...

class	ImageHeightmap
	Encapsulates an image that will be interpreted as a heightmap. More...

class	InternalError
	Class for generating Internal Gazebo Errors: those errors which should never happend and represent programming bugs. More...

class	KeyEvent
	Generic description of a keyboard event. More...

class	KeyFrame
	A key frame in an animation. More...

class	Logger
	Terminal logger. More...

class	Material
	Encapsulates description of a material. More...

class	Mesh
	A 3D mesh. More...

class	MeshCSG
	Creates CSG meshes. More...

class	MeshExporter
	Base class for exporting meshes. More...

class	MeshLoader
	Base class for loading meshes. More...

class	MeshManager
	Maintains and manages all meshes. More...

class	ModelDatabase
	Connects to model database, and has utility functions to find models. More...

class	ModelPlugin
	A plugin with access to physics::Model. More...

class	MouseEvent
	Generic description of a mouse event. More...

class	MovingWindowFilter< T >
	Base class for MovingWindowFilter. More...

class	NodeAnimation
	Node animation. More...

class	NodeAssignment
	Vertex to node weighted assignement for skeleton animation visualization. More...

class	NodeTransform
	NodeTransform Skeleton.hh common/common.hh More...

class	NumericAnimation
	A numeric animation. More...

class	NumericKeyFrame
	A keyframe for a NumericAnimation. More...

class	OBJLoader
	Class used to load obj mesh files. More...

class	PID
	Generic PID controller class. More...

class	PluginT< T >
	A class which all plugins must inherit from. More...

class	PoseAnimation
	A pose animation. More...

class	PoseKeyFrame
	A keyframe for a PoseAnimation. More...

class	SemanticVersion
	Version comparison class based on Semantic Versioning 2.0.0 http://semver.org/ Compares versions and converts versions from string. More...

class	SensorPlugin
	A plugin with access to physics::Sensor. More...

class	SingletonT< T >
	Singleton template class. More...

class	Skeleton
	A skeleton. More...

class	SkeletonAnimation
	Skeleton animation. More...

class	SkeletonNode
	A skeleton node. More...

class	SphericalCoordinates
	Convert spherical coordinates for planetary surfaces. More...

class	STLLoader
	Class used to load STL mesh files. More...

class	SubMesh
	A child mesh. More...

class	SystemPaths
	Functions to handle getting system paths, keeps track of: More...

class	SystemPlugin
	A plugin loaded within the gzserver on startup. More...

class	Time
	A Time class, can be used to hold wall- or sim-time. More...

class	Timer
	A timer class, used to time things in real world walltime. More...

class	Video
	Handle video encoding and decoding using libavcodec. More...

class	VideoEncoder
	The VideoEncoder class supports encoding a series of images to a video format, and then writing the video to disk. More...

class	VisualPlugin
	A plugin with access to rendering::Visual. More...

class	WorldPlugin
	A plugin with access to physics::World. More...

Macros
#define	gzdbg (gazebo::common::Console::dbg(__FILE__, __LINE__))
	Output a debug message. More...

#define	gzerr (gazebo::common::Console::err(__FILE__, __LINE__))
	Output an error message. More...

#define	gzlog (gazebo::common::Console::log())
	Output a message to a log file. More...

#define	gzLogDirectory() (gazebo::common::Console::log.GetLogDirectory())
	Get the full path of the directory where the log files are stored. More...

#define	gzLogInit(_prefix, _str) (gazebo::common::Console::log.Init(_prefix, _str))
	Initialize log file with filename given by _str. More...

#define	gzmsg (gazebo::common::Console::msg())
	Output a message. More...

#define	gzthrow(msg)
	This macro logs an error to the throw stream and throws an exception that contains the file name and line number. More...

#define	gzwarn (gazebo::common::Console::warn(__FILE__, __LINE__))
	Output a warning message. More...

Enumerations
enum	PluginType { WORLD_PLUGIN, MODEL_PLUGIN, SENSOR_PLUGIN, SYSTEM_PLUGIN, VISUAL_PLUGIN, GUI_PLUGIN }
	Used to specify the type of plugin. More...

Functions
	MovingWindowFilter ()
	Constructor. More...

	SemanticVersion ()
	Default constructor. More...

	SemanticVersion (const std::string &_v)
	Constructor. More...

	SemanticVersion (const SemanticVersion &_copy)
	Copy constructor. More...

	SemanticVersion (const unsigned int _major, const unsigned int _minor=0, const unsigned int _patch=0, const std::string &_prerelease="", const std::string &_build="")
	Constructor. More...

virtual	~MovingWindowFilter ()
	Destructor. More...

	~SemanticVersion ()
	Destructor. More...

std::string	absPath (const std::string &_path)
	Get the absolute path of a provided path. More...

void	add_search_path_suffix (const std::string &_suffix)
	add path sufix to common::SystemPaths More...

std::string	Build () const
	Get the build metadata string. More...

bool	copyFile (const std::string &_existingFilename, const std::string &_newFilename)
	Copy a file. More...

std::string	cwd ()
	Get the current working directory. More...

static bool	DelaunayTriangulation (const std::vector< ignition::math::Vector2d > &_vertices, const std::vector< ignition::math::Vector2i > &_edges, SubMesh *_submesh)
	Perform delaunay triangulation on input vertices. More...

void	DownloadDependencies (const std::string &_path)
	Download all dependencies for a give model path. More...

bool	exists (const std::string &_path)
	Returns true if _path is a file or directory. More...

std::string	find_file (const std::string &_file)
	search for file in common::SystemPaths More...

std::string	find_file (const std::string &_file, bool _searchLocalPath)
	search for file in common::SystemPaths More...

std::string	find_file_path (const std::string &_file)
	search for a file in common::SystemPaths More...

void	Fini ()
	Finalize the model database. More...

T	Get ()
	Get filtered result. More...

template<typename T >
std::string	get_sha1 (const T &_buffer)
	Compute the SHA1 hash of an array of bytes. More...

std::string	GetDBConfig (const std::string &_uri)
	Return the database.config file as a string. More...

const char *	getEnv (const char *_name)
	Cross platform retrieval of an environment variable. More...

std::string	GetModelConfig (const std::string &_uri)
	Return the model.config file as a string. More...

std::string	GetModelFile (const std::string &_uri)
	Get a model's SDF file based on a URI. More...

std::string	GetModelName (const std::string &_uri)
	Get the name of a model based on a URI. More...

std::string	GetModelPath (const std::string &_uri, bool _forceDownload=false)
	Get the local path to a model. More...

std::map< std::string, std::string >	GetModels ()
	Returns the dictionary of all the model names. More...

event::ConnectionPtr	GetModels (boost::function< void(const std::map< std::string, std::string > &)> _func)
	Get the dictionary of all model names via a callback. More...

std::string	GetURI ()
	Returns the the global model database URI. More...

bool	GetWindowFilled () const
	Get whether the window has been filled. More...

unsigned int	GetWindowSize () const
	Get the window size. More...

bool	HasModel (const std::string &_modelName)
	Returns true if the model exists on the database. More...

bool	isDirectory (const std::string &_path)
	Check if the given path is a directory. More...

bool	isFile (const std::string &_path)
	Check if the given path is a file. More...

void	load ()
	Load the common library. More...

unsigned int	Major () const
	Get the major number. More...

unsigned int	Minor () const
	Get the minor number. More...

bool	moveFile (const std::string &_existingFilename, const std::string &_newFilename)
	Move a file. More...

bool	operator!= (const SemanticVersion &_other) const
	Inequality comparison operator. More...

bool	operator< (const SemanticVersion &_other) const
	Less than comparison operator. More...

bool	operator<= (const SemanticVersion &_other) const
	Less than or equal comparison operator. More...

SemanticVersion &	operator= (const SemanticVersion &_other)
	Assignment operator. More...

bool	operator== (const SemanticVersion &_other) const
	Equality comparison operator. More...

bool	operator> (const SemanticVersion &_other) const
	Greater than comparison operator. More...

bool	operator>= (const SemanticVersion &_other) const
	Greater than or equal comparison operator. More...

bool	Parse (const std::string &_versionStr)
	Parse a version string and set the major, minor, patch numbers, and prerelease and build strings. More...

unsigned int	Patch () const
	Get the patch number. More...

std::string	Prerelease () const
	Get the prerelease string. More...

void	replaceAll (std::string &_result, const std::string &_orig, const std::string &_key, const std::string &_replacement)
	Replace all occurances of _key with _replacement. More...

std::string	replaceAll (const std::string &_orig, const std::string &_key, const std::string &_replacement)
	Replace all occurances of _key with _replacement. More...

void	SetWindowSize (unsigned int _n)
	Set window size. More...

std::vector< std::string >	split (const std::string &_str, const std::string &_delim)
	Splits a string into tokens. More...

void	Start (bool _fetchImmediately=false)
	Start the model database. More...

std::string	unique_file_path (const std::string &_pathAndName, const std::string &_extension)
	Generates a path for a file which doesn't collide with existing files, by appending numbers to it (i.e. More...

void	Update (T _val)
	Update value of filter. More...

std::string	Version () const
	Returns the version as a string. More...

Variables
static std::string	PixelFormatNames []
	String names for the pixel formats. More...

Friends
std::ostream &	operator<< (std::ostream &_out, const SemanticVersion &_v)
	Stream insertion operator. More...

Detailed Description

Classes and functions used by multiple modules.

Macro Definition Documentation

#define gzdbg (gazebo::common::Console::dbg(__FILE__, __LINE__))

Output a debug message.

#define gzerr (gazebo::common::Console::err(__FILE__, __LINE__))

Output an error message.

Referenced by Connection::AsyncRead(), gazebo::util::Convert(), PluginT< ModelPlugin >::Create(), GearboxJoint< ODEJoint >::Load(), SimbodySphereShape::SetRadius(), BulletSphereShape::SetRadius(), SimbodyBoxShape::SetSize(), SimbodyCylinderShape::SetSize(), BulletBoxShape::SetSize(), and BulletCylinderShape::SetSize().

#define gzlog (gazebo::common::Console::log())

Output a message to a log file.

#define gzLogDirectory ( ) (gazebo::common::Console::log.GetLogDirectory())

Get the full path of the directory where the log files are stored.

Returns: Full path of the directory

#define gzLogInit	(	_prefix,
		_str
	)	(gazebo::common::Console::log.Init(_prefix, _str))

Initialize log file with filename given by _str.

If called twice, it will close currently in use and open a new log file.

Parameters

[in]	_prefix	Prefix added to the directory where the log file will be created.
[in]	_str	Name of log file for gzlog messages.

#define gzmsg (gazebo::common::Console::msg())

Output a message.

#define gzthrow ( msg )

Value:

{std::ostringstream throwStream;\
      throwStream << msg << std::endl << std::flush;\
      throw gazebo::common::Exception(__FILE__, __LINE__, throwStream.str()); }

This macro logs an error to the throw stream and throws an exception that contains the file name and line number.

Referenced by TopicManager::Advertise(), CallbackHelperT< M >::GetMsgType(), and SubscribeOptions::Init().

#define gzwarn (gazebo::common::Console::warn(__FILE__, __LINE__))

Output a warning message.

Referenced by SimbodySphereShape::SetRadius(), BulletSphereShape::SetRadius(), SimbodyBoxShape::SetSize(), SimbodyCylinderShape::SetSize(), BulletBoxShape::SetSize(), and BulletCylinderShape::SetSize().

Enumeration Type Documentation

enum PluginType

Used to specify the type of plugin.

Enumerator
WORLD_PLUGIN	A World plugin.
MODEL_PLUGIN	A Model plugin.
SENSOR_PLUGIN	A Sensor plugin.
SYSTEM_PLUGIN	A System plugin.
VISUAL_PLUGIN	A Visual plugin.
GUI_PLUGIN	A GUI plugin.

Function Documentation

MovingWindowFilter ( )

Constructor.

SemanticVersion ( )

Default constructor.

Use the Parse function to populate an instance with version information.

SemanticVersion ( const std::string & _v )

Constructor.

Parameters

[in] _v the string version. ex: "0.3.2"

SemanticVersion ( const SemanticVersion & _copy )

Copy constructor.

Parameters

[in] _copy the other version

SemanticVersion	(	const unsigned int	_major,
		const unsigned int	_minor = `0`,
		const unsigned int	_patch = `0`,
		const std::string &	_prerelease = `""`,
		const std::string &	_build = `""`
	)

Constructor.

Parameters

[in]	_major	The major number
[in]	_minor	The minor number
[in]	_patch	The patch number
[in]	_prerelease	The prerelease string
[in]	_build	The build metadata string

~MovingWindowFilter ( )

virtual

Destructor.

~SemanticVersion ( )

Destructor.

std::string gazebo::common::absPath ( const std::string & _path )

Get the absolute path of a provided path.

Parameters

[in] _path Relative or absolute path.

Returns: Absolute path

void gazebo::common::add_search_path_suffix ( const std::string & _suffix )

add path sufix to common::SystemPaths

Parameters

[in] _suffix The suffix to add.

std::string Build ( ) const

Get the build metadata string.

Build meta data is not used when determining precedence.

Returns: Build metadata string, empty if a build metadata string was not specified.

bool gazebo::common::copyFile	(	const std::string &	_existingFilename,
		const std::string &	_newFilename
	)

Copy a file.

Parameters

[in]	_existingFilename	Path to an existing file.
[in]	_newFilename	Path of the new file.

Returns: True on success.

std::string gazebo::common::cwd ( )

Get the current working directory.

Returns: Name of the current directory

static bool DelaunayTriangulation	(	const std::vector< ignition::math::Vector2d > &	_vertices,
		const std::vector< ignition::math::Vector2i > &	_edges,
		SubMesh *	_submesh
	)

static

Perform delaunay triangulation on input vertices.

Parameters

[in]	_vertices	A list of all vertices
[in]	_edges	A list of edges. Each edge is made of 2 vertex indices from _vertices
[out]	_submesh	A submesh that will be populated with the resulting triangles.

Returns: True on success.

void DownloadDependencies ( const std::string & _path )

Download all dependencies for a give model path.

Look's in the model's manifest file (_path/model.config) for all models listed in the <depend> block, and downloads the models if necessary.

Parameters

[in] _path Path to a model.

bool gazebo::common::exists ( const std::string & _path )

Returns true if _path is a file or directory.

Parameters

[in] _path Path to check.

Returns: True if _path is a file or directory

std::string gazebo::common::find_file ( const std::string & _file )

search for file in common::SystemPaths

Parameters

[in] _file Name of the file to find.

Returns: The path containing the file.

std::string gazebo::common::find_file	(	const std::string &	_file,
		bool	_searchLocalPath
	)

search for file in common::SystemPaths

Parameters

[in]	_file	Name of the file to find.
[in]	_searchLocalPath	True to search in the current working directory.

Returns: The path containing the file.

std::string gazebo::common::find_file_path ( const std::string & _file )

search for a file in common::SystemPaths

Parameters

[in] _file the file name to look for.

Returns: The path containing the file.

void Fini ( )

Finalize the model database.

T Get ( )

Get filtered result.

Returns: latest filtered value

std::string get_sha1 ( const T & _buffer )

Compute the SHA1 hash of an array of bytes.

Parameters

[in] _buffer Input sequence. The permitted data types for this function are std::string and any STL container.

Returns: The string representation (40 character) of the SHA1 hash.

std::string GetDBConfig ( const std::string & _uri )

Return the database.config file as a string.

Returns: The database config file from the model database.

const char* gazebo::common::getEnv ( const char * _name )

Cross platform retrieval of an environment variable.

Parameters

[in] _name Name of the environment variable to get.

Returns: Environment variable contents, or nullptr on error.

std::string GetModelConfig ( const std::string & _uri )

Return the model.config file as a string.

Returns: The model config file from the model database.

std::string GetModelFile ( const std::string & _uri )

Get a model's SDF file based on a URI.

Get a model file based on a URI. If the model is on a remote server, then the model fetched and installed locally.

Parameters

[in] _uri The URI of the model

Returns: The full path and filename to the SDF file

std::string GetModelName ( const std::string & _uri )

Get the name of a model based on a URI.

The URI must be fully qualified: http://gazebosim.org/gazebo_models/ground_plane or model://gazebo_models

Parameters

[in] _uri the model uri

Returns: the model's name.

std::string GetModelPath	(	const std::string &	_uri,
		bool	_forceDownload = `false`
	)

Get the local path to a model.

Get the path to a model based on a URI. If the model is on a remote server, then the model fetched and installed locally.

Parameters

[in]	_uri	the model uri
[in]	_forceDownload	True to skip searching local paths.

Returns: path to a model directory

std::map<std::string, std::string> GetModels ( )

Returns the dictionary of all the model names.

This is a blocking call. Which means it will wait for the ModelDatabase to download the model list.

Returns: a map of model names, indexed by their full URI.

event::ConnectionPtr GetModels ( boost::function< void(const std::map< std::string, std::string > &)> _func )

Get the dictionary of all model names via a callback.

This is the non-blocking version of ModelDatabase::GetModels

Parameters

[in] _func Callback function that receives the list of models.

Returns: A boost shared pointer. This pointer must remain valid in order to receive the callback.

std::string GetURI ( )

Returns the the global model database URI.

Returns: the URI.

bool GetWindowFilled ( ) const

Get whether the window has been filled.

Returns: True if the window has been filled.

unsigned int GetWindowSize ( ) const

Get the window size.

Returns: The size of the moving window.

bool HasModel ( const std::string & _modelName )

Returns true if the model exists on the database.

Parameters

[in] _modelName URI of the model (eg: model://my_model_name).

Returns: True if the model was found.

bool gazebo::common::isDirectory ( const std::string & _path )

Check if the given path is a directory.

Parameters

[in] _path Path to a directory.

Returns: True if _path is a directory.

bool gazebo::common::isFile ( const std::string & _path )

Check if the given path is a file.

Parameters

[in] _path Path to a file.

Returns: True if _path is a file.

void gazebo::common::load ( )

Load the common library.

unsigned int Major ( ) const

Get the major number.

Returns: The major number

unsigned int Minor ( ) const

Get the minor number.

Returns: The minor number

bool gazebo::common::moveFile	(	const std::string &	_existingFilename,
		const std::string &	_newFilename
	)

Move a file.

Parameters

[in]	_existingFilename	Full path to an existing file.
[in]	_newFilename	Full path of the new file.

Returns: True on success.

bool operator!= ( const SemanticVersion & _other ) const

Inequality comparison operator.

Parameters

[in] _other The other version to compare to

Returns: True if _other version is different

bool operator< ( const SemanticVersion & _other ) const

Less than comparison operator.

Parameters

[in] _other The other version to compare to

Returns: True if _other version is newer

bool operator<= ( const SemanticVersion & _other ) const

Less than or equal comparison operator.

Parameters

[in] _other The other version to compare to

Returns: True if _other version is older or equal

SemanticVersion& operator= ( const SemanticVersion & _other )

Assignment operator.

Parameters

[in] _other The version to assign from.

Returns: The reference to this instance

bool operator== ( const SemanticVersion & _other ) const

Equality comparison operator.

Parameters

[in] _other The other version to compare to

Returns: True if _other version is the same

bool operator> ( const SemanticVersion & _other ) const

Greater than comparison operator.

Parameters

[in] _other The other version to compare to

Returns: True if _other version is older

bool operator>= ( const SemanticVersion & _other ) const

Greater than or equal comparison operator.

Parameters

[in] _other The other version to compare to

Returns: True if _other version is newer or the same

bool Parse ( const std::string & _versionStr )

Parse a version string and set the major, minor, patch numbers, and prerelease and build strings.

Parameters

[in] _versionStr The version string, such as "1.2.3-pr+123" True on success.

unsigned int Patch ( ) const

Get the patch number.

Returns: The patch number

std::string Prerelease ( ) const

Get the prerelease string.

Returns: Prelrease string, empty if a prerelease string was not specified.

void gazebo::common::replaceAll	(	std::string &	_result,
		const std::string &	_orig,
		const std::string &	_key,
		const std::string &	_replacement
	)

Replace all occurances of _key with _replacement.

Parameters

[out]	_result	The new string that has had _key replaced with _replacement.
[in]	_orig	Original string.
[in]	_key	String to replace.
[in]	_replacement	The string that replaces _key.

See Also: std::string replaceAll(const std::string &_orig, const std::string &_key, const std::string &_replacement)

std::string gazebo::common::replaceAll	(	const std::string &	_orig,
		const std::string &	_key,
		const std::string &	_replacement
	)

Replace all occurances of _key with _replacement.

Parameters

[in]	_orig	Original string.
[in]	_key	String to replace.
[in]	_replacement	The string that replaces _key.

Returns: The new string that has had _key replaced with _replacement.

See Also: void common::replaceAll(std::string &_result, const std::string &_orig, const std::string &_key, const std::string &_replacement)

void SetWindowSize ( unsigned int _n )

Set window size.

Parameters

[in] _n new desired window size

std::vector<std::string> gazebo::common::split	(	const std::string &	_str,
		const std::string &	_delim
	)

Splits a string into tokens.

Parameters

[in]	_str	Input string.
[in]	_delim	Token delimiter.

Returns: Vector of tokens.

void Start ( bool _fetchImmediately = false )

Start the model database.

Parameters

[in] _fetchImmediately True to fetch the models without waiting.

std::string gazebo::common::unique_file_path	(	const std::string &	_pathAndName,
		const std::string &	_extension
	)

Generates a path for a file which doesn't collide with existing files, by appending numbers to it (i.e.

(0), (1), ...)

Parameters

[in]	_pathAndName	Full absolute path and file name up to the file extension.
[in]	_extension	File extension, such as "pdf".

Returns: Full path with name and extension, which doesn't collide with existing files

void Update ( T _val )

Update value of filter.

Parameters

[in] _val new raw value

std::string Version ( ) const

Returns the version as a string.

Returns: The semantic version string

Variable Documentation

std::string PixelFormatNames[]

static

Initial value:

=
    {
      "UNKNOWN_PIXEL_FORMAT",
      "L_INT8",
      "L_INT16",
      "RGB_INT8",
      "RGBA_INT8",
      "BGRA_INT8",
      "RGB_INT16",
      "RGB_INT32",
      "BGR_INT8",
      "BGR_INT16",
      "BGR_INT32",
      "R_FLOAT16",
      "RGB_FLOAT16",
      "R_FLOAT32",
      "RGB_FLOAT32",
      "BAYER_RGGB8",
      "BAYER_RGGR8",
      "BAYER_GBRG8",
      "BAYER_GRBG8"
    }

String names for the pixel formats.

See Also: Image::PixelFormat.

Friends

std::ostream& operator<<	(	std::ostream &	_out,
		const SemanticVersion &	_v
	)

friend

Stream insertion operator.

Parameters

_out	output stream
_v	Semantic version to output

Returns: the stream

Files

Namespaces

Classes

Macros

Enumerations

Functions

Variables

Friends

Detailed Description

Macro Definition Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation

Friends