17 #ifndef GAZEBO_PHYSICS_WORLD_HH_
18 #define GAZEBO_PHYSICS_WORLD_HH_
33 #include <boost/enable_shared_from_this.hpp>
80 class GZ_PHYSICS_VISIBLE
World :
81 public boost::enable_shared_from_this<World>
86 public:
explicit World(
const std::string &_name =
"");
94 public:
void Load(sdf::ElementPtr _sdf);
98 public:
const sdf::ElementPtr SDF();
103 public:
void Save(
const std::string &_filename);
113 public:
void Run(
const unsigned int _iterations = 0);
117 public:
bool Running()
const;
130 public:
void Clear();
134 public: std::string Name()
const;
159 public: ignition::math::Vector3d Gravity()
const;
163 public:
void SetGravity(
const ignition::math::Vector3d &_gravity);
167 public:
void SetGravitySDF(
const ignition::math::Vector3d &_gravity);
171 public:
virtual ignition::math::Vector3d MagneticField()
const;
175 public:
void SetMagneticField(
const ignition::math::Vector3d &_mag);
179 public:
unsigned int ModelCount()
const;
186 public:
ModelPtr ModelByIndex(
const unsigned int _index)
const;
190 public:
Model_V Models()
const;
194 public:
unsigned int LightCount()
const;
198 public:
Light_V Lights()
const;
207 public:
void ResetTime();
210 public:
void Reset();
214 public:
void PrintEntityTree();
239 public:
bool IsPaused()
const;
243 public:
void SetPaused(
const bool _p);
250 public:
BasePtr BaseByName(
const std::string &_name)
const;
257 public:
ModelPtr ModelByName(
const std::string &_name)
const;
264 public:
LightPtr LightByName(
const std::string &_name)
const;
271 public:
EntityPtr EntityByName(
const std::string &_name)
const;
281 const ignition::math::Vector3d &_pt)
const;
289 const ignition::math::Vector3d &_pt)
const;
293 public:
void SetState(
const WorldState &_state);
298 public:
void InsertModelFile(
const std::string &_sdfFilename);
303 public:
void InsertModelString(
const std::string &_sdfString);
308 public:
void InsertModelSDF(
const sdf::SDF &_sdf);
313 public: std::string StripWorldName(
const std::string &_name)
const;
318 public:
void EnableAllModels();
323 public:
void DisableAllModels();
327 public:
void Step(
const unsigned int _steps);
333 public:
void LoadPlugin(
const std::string &_filename,
334 const std::string &_name,
335 sdf::ElementPtr _sdf);
339 public:
void RemovePlugin(
const std::string &_name);
343 public: std::mutex &WorldPoseMutex()
const;
347 public:
bool PhysicsEnabled()
const;
351 public:
void SetPhysicsEnabled(
const bool _enable);
355 public:
bool WindEnabled()
const;
359 public:
void SetWindEnabled(
const bool _enable);
363 public:
bool AtmosphereEnabled()
const;
367 public:
void SetAtmosphereEnabled(
const bool _enable);
370 public:
void UpdateStateSDF();
374 public:
bool IsLoaded()
const;
378 public:
void ClearModels();
400 public: uint32_t Iterations()
const;
404 public: msgs::Scene SceneMsg()
const;
410 public:
void RunBlocking(
const unsigned int _iterations = 0);
416 public:
void RemoveModel(
ModelPtr _model);
422 public:
void RemoveModel(
const std::string &_name);
426 public:
void ResetPhysicsStates();
434 public:
void _AddDirty(
Entity *_entity);
438 public:
bool SensorsInitialized()
const;
444 public:
void _SetSensorsInitialized(
const bool _init);
455 public: std::string UniqueModelName(
const std::string &_name);
464 private:
ModelPtr ModelById(
const unsigned int _id)
const;
470 private:
void LoadPlugins();
475 private:
void LoadEntities(sdf::ElementPtr _sdf,
BasePtr _parent);
487 public:
LightPtr LoadLight(
const sdf::ElementPtr &_sdf,
503 private:
void RunLoop();
506 private:
void Step();
509 private:
void LogStep();
512 private:
void Update();
516 private:
void OnPause(
bool _p);
519 private:
void OnStep();
523 private:
void OnControl(ConstWorldControlPtr &_data);
527 private:
void OnPlaybackControl(ConstLogPlaybackControlPtr &_data);
531 private:
void OnRequest(ConstRequestPtr &_msg);
537 private:
void BuildSceneMsg(msgs::Scene &_scene,
BasePtr _entity);
541 private:
void JointLog(ConstJointPtr &_msg);
545 private:
void OnFactoryMsg(ConstFactoryPtr &_data);
549 private:
void OnModelMsg(ConstModelPtr &_msg);
552 private:
void ModelUpdateTBB();
555 private:
void ModelUpdateSingleLoop();
559 private:
void LoadPlugin(sdf::ElementPtr _sdf);
564 private:
void FillModelMsg(msgs::Model &_msg,
ModelPtr _model);
568 private:
void ProcessEntityMsgs();
572 private:
void ProcessRequestMsgs();
576 private:
void ProcessFactoryMsgs();
580 private:
void ProcessModelMsgs();
584 private:
void ProcessLightFactoryMsgs();
588 private:
void ProcessLightModifyMsgs();
591 private:
bool OnLog(std::ostringstream &_stream);
594 private:
void ProcessMessages();
597 private:
void PublishWorldStats();
600 private:
void LogWorker();
603 private:
void RegisterIntrospectionItems();
606 private:
void UnregisterIntrospectionItems();
611 private:
void OnLightFactoryMsg(ConstLightPtr &_msg);
616 private:
void OnLightModifyMsg(ConstLightPtr &_msg);
634 private:
bool PluginInfoService(
const ignition::msgs::StringMsg &_request,
635 ignition::msgs::Plugin_V &_plugins);
639 private: std::unique_ptr<WorldPrivate> dataPtr;
boost::shared_ptr< Actor > ActorPtr
Definition: PhysicsTypes.hh:97
boost::shared_ptr< PresetManager > PresetManagerPtr
Definition: PhysicsTypes.hh:129
std::vector< ModelPtr > Model_V
Definition: PhysicsTypes.hh:205
std::vector< LightPtr > Light_V
Definition: PhysicsTypes.hh:221
Forward declarations for transport.
default namespace for gazebo
A complete URI.
Definition: URI.hh:176
Base type.
Definition: Base.hh:83
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition: PhysicsTypes.hh:125
The world provides access to all other object within a simulated environment.
Definition: World.hh:80
Simbody physics engine.
Definition: SimbodyPhysics.hh:42
boost::shared_ptr< SphericalCoordinates > SphericalCoordinatesPtr
Definition: CommonTypes.hh:121
Base class for wind.
Definition: Wind.hh:41
Base class for all physics objects in Gazebo.
Definition: Entity.hh:52
boost::shared_ptr< Entity > EntityPtr
Definition: PhysicsTypes.hh:85
boost::shared_ptr< Road > RoadPtr
Definition: PhysicsTypes.hh:161
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
EntityType
Unique identifiers for all entity types.
Definition: Base.hh:81
boost::shared_ptr< Light > LightPtr
Definition: PhysicsTypes.hh:105
Store state information of a physics::World object.
Definition: WorldState.hh:47
This models a base atmosphere class to serve as a common interface to any derived atmosphere models...
Definition: Atmosphere.hh:42
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:44
DART Link class.
Definition: DARTLink.hh:39