18 #ifndef GAZEBO_PHYSICS_MODELSTATE_HH_
19 #define GAZEBO_PHYSICS_MODELSTATE_HH_
23 #include <boost/regex.hpp>
25 #include <ignition/math/Pose3.hh>
26 #include <ignition/math/Vector3.hh>
62 const common::Time &_simTime,
const uint64_t _iterations);
75 public:
explicit ModelState(
const sdf::ElementPtr _sdf);
89 const common::Time &_simTime,
const uint64_t _iterations);
95 public:
virtual void Load(
const sdf::ElementPtr _elem);
99 public:
const ignition::math::Pose3d &Pose()
const;
103 public:
const ignition::math::Vector3d &Scale()
const;
107 public:
bool IsZero()
const;
113 public:
unsigned int GetLinkStateCount()
const;
119 public:
LinkState_M GetLinkStates(
const boost::regex &_regex)
const;
125 public:
JointState_M GetJointStates(
const boost::regex &_regex)
const;
134 public:
LinkState GetLinkState(
const std::string &_linkName)
const;
139 public:
bool HasLinkState(
const std::string &_linkName)
const;
149 public:
unsigned int GetJointStateCount()
const;
158 public:
JointState GetJointState(
unsigned int _index)
const;
167 public:
JointState GetJointState(
const std::string &_jointName)
const;
176 public:
bool HasJointState(
const std::string &_jointName)
const;
182 public:
unsigned int NestedModelStateCount()
const;
191 public:
ModelState NestedModelState(
const std::string &_modelName)
const;
196 public:
bool HasNestedModelState(
const std::string &_modelName)
const;
204 public:
void FillSDF(sdf::ElementPtr _sdf);
209 public:
virtual void SetWallTime(
const common::Time &_time);
213 public:
virtual void SetRealTime(
const common::Time &_time);
217 public:
virtual void SetSimTime(
const common::Time &_time);
222 public:
virtual void SetIterations(
const uint64_t _iterations);
243 public:
inline friend std::ostream &
operator<<(std::ostream &_out,
246 ignition::math::Vector3d euler(_state.pose.Rot().Euler());
247 _out.unsetf(std::ios_base::floatfield);
248 _out << std::setprecision(3)
249 <<
"<model name='" << _state.
GetName() <<
"'>"
251 << ignition::math::precision(_state.pose.Pos().X(), 4) <<
" "
252 << ignition::math::precision(_state.pose.Pos().Y(), 4) <<
" "
253 << ignition::math::precision(_state.pose.Pos().Z(), 4) <<
" "
254 << ignition::math::precision(euler.X(), 4) <<
" "
255 << ignition::math::precision(euler.Y(), 4) <<
" "
256 << ignition::math::precision(euler.Z(), 4) <<
" "
260 if (_state.scale != ignition::math::Vector3d::One)
261 _out <<
"<scale>" << _state.scale <<
"</scale>";
263 for (LinkState_M::const_iterator iter =
264 _state.linkStates.begin(); iter != _state.linkStates.end();
267 _out << iter->second;
270 for (
const auto &ms : _state.modelStates)
289 private: ignition::math::Pose3d pose;
292 private: ignition::math::Vector3d scale;
std::map< std::string, ModelState > ModelState_M
Definition: PhysicsTypes.hh:233
std::string GetName() const
Get the name associated with this State.
std::map< std::string, JointState > JointState_M
Definition: PhysicsTypes.hh:245
State of an entity.
Definition: State.hh:49
keeps track of state of a physics::Joint
Definition: JointState.hh:42
friend std::ostream & operator<<(std::ostream &_out, const gazebo::physics::ModelState &_state)
Stream insertion operator.
Definition: ModelState.hh:243
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
std::map< std::string, LinkState > LinkState_M
Definition: PhysicsTypes.hh:241
Store state information of a physics::Model object.
Definition: ModelState.hh:48
Store state information of a physics::Link object.
Definition: LinkState.hh:47
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:44