A model is a collection of links, joints, and plugins. More...
#include <physics/physics.hh>
Inherits Model.
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 | |
SimbodyModel (BasePtr _parent) | |
Constructor. More... | |
virtual | ~SimbodyModel () |
Destructor. More... | |
void | AddChild (BasePtr _child) |
Add a child to this entity. More... | |
void | AddType (EntityType _type) |
Add a type specifier. More... | |
void | AttachStaticModel (ModelPtr &_model, ignition::math::Pose3d _offset) |
Attach a static model to this model. More... | |
virtual ignition::math::Box | BoundingBox () const |
Get the size of the bounding box. More... | |
ignition::math::Box | CollisionBoundingBox () const |
Returns collision bounding box. More... | |
gazebo::physics::JointPtr | CreateJoint (const std::string &_name, const std::string &_type, physics::LinkPtr _parent, physics::LinkPtr _child) |
Create a joint for this model. More... | |
gazebo::physics::JointPtr | CreateJoint (sdf::ElementPtr _sdf) |
Create a joint for this model. More... | |
LinkPtr | CreateLink (const std::string &_name) |
Create a new link for this model. More... | |
void | DetachStaticModel (const std::string &_model) |
Detach a static model from this model. More... | |
const ignition::math::Pose3d & | DirtyPose () const |
Returns Entity::dirtyPose. More... | |
virtual void | FillMsg (msgs::Model &_msg) |
Fill a model message. More... | |
virtual void | Fini () |
Finalize the model. More... | |
bool | GetAutoDisable () const |
Return the value of the SDF <allow_auto_disable> element. 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... | |
CollisionPtr | GetChildCollision (const std::string &_name) |
Get a child collision entity, if one exists. More... | |
unsigned int | GetChildCount () const |
Get the number of children. More... | |
LinkPtr | GetChildLink (const std::string &_name) |
Get a child linke entity, if one exists. More... | |
GripperPtr | GetGripper (size_t _index) const |
Get a gripper based on an index. More... | |
size_t | GetGripperCount () const |
Get the number of grippers in this model. More... | |
uint32_t | GetId () const |
Return the ID of this entity. More... | |
JointPtr | GetJoint (const std::string &name) |
Get a joint. More... | |
JointControllerPtr | GetJointController () |
Get a handle to the Controller for the joints in this model. More... | |
unsigned int | GetJointCount () const |
Get the number of joints. More... | |
const Joint_V & | GetJoints () const |
Get the joints. More... | |
LinkPtr | GetLink (const std::string &_name="canonical") const |
Get a link by name. More... | |
const Link_V & | GetLinks () const |
Construct and return a vector of Link's in this model Note this constructs the vector of Link's on the fly, could be costly. More... | |
std::string | GetName () const |
Return the name of the entity. More... | |
void | GetNearestEntityBelow (double &_distBelow, std::string &_entityName) |
Get the distance to the nearest entity below (along the Z-axis) this entity. More... | |
BasePtr | GetParent () const |
Get the parent. More... | |
int | GetParentId () const |
Return the ID of the parent. More... | |
ModelPtr | GetParentModel () |
Get the parent model, if one exists. More... | |
unsigned int | GetPluginCount () const |
Get the number of plugins this model has. More... | |
bool | GetSaveable () const |
Get whether the object should be "saved", when the user selects to save the world to xml. 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 model. More... | |
virtual bool | GetSelfCollide () const |
If true, all links within the model will collide by default. More... | |
unsigned int | GetSensorCount () const |
Get the number of sensors attached to this model. More... | |
unsigned int | GetType () const |
Get the full type definition. More... | |
const WorldPtr & | GetWorld () const |
Get the World this object is in. More... | |
double | GetWorldEnergy () const |
Returns this model's total energy, or sum of Model::GetWorldEnergyPotential() and Model::GetWorldEnergyKinetic(). More... | |
double | GetWorldEnergyKinetic () const |
Returns sum of the kinetic energies of all links in this model. More... | |
double | GetWorldEnergyPotential () const |
Returns the potential energy of all links and joint springs in the model. More... | |
bool | HasType (const EntityType &_t) const |
Returns true if this object's type definition has the given type. More... | |
virtual void | Init () |
Initialize the model. More... | |
ignition::math::Pose3d | InitialRelativePose () const |
Get the initial relative pose. More... | |
bool | IsCanonicalLink () const |
A helper function that checks if this is a canonical body. More... | |
bool | IsSelected () const |
True if the entity is selected by the user. More... | |
bool | IsStatic () const |
Return whether this entity is static. More... | |
virtual void | Load (sdf::ElementPtr _sdf) |
Load the model. More... | |
void | LoadJoints () |
Load all the joints. More... | |
void | LoadPlugins () |
Load all plugins. More... | |
ModelPtr | NestedModel (const std::string &_name) const |
Get a nested model that is a direct child of this model. More... | |
const Model_V & | NestedModels () const |
Get all the nested models. More... | |
bool | operator== (const Base &_ent) const |
Returns true if the entities are the same. More... | |
void | PlaceOnEntity (const std::string &_entityName) |
Move this entity to be ontop of another entity by name. More... | |
void | PlaceOnNearestEntityBelow () |
Move this entity to be ontop of the nearest entity below. More... | |
void | PluginInfo (const common::URI &_pluginUri, ignition::msgs::Plugin_V &_plugins, bool &_success) |
Get information about plugins in this model or one of its children, according to the given _pluginUri. More... | |
void | Print (const std::string &_prefix) |
Print this object to screen via gzmsg. More... | |
void | ProcessMsg (const msgs::Model &_msg) |
Update parameters from a model message. More... | |
virtual ignition::math::Vector3d | RelativeAngularAccel () const |
Get the angular acceleration of the entity. More... | |
virtual ignition::math::Vector3d | RelativeAngularVel () const |
Get the angular velocity of the entity. More... | |
virtual ignition::math::Vector3d | RelativeLinearAccel () const |
Get the linear acceleration of the entity. More... | |
virtual ignition::math::Vector3d | RelativeLinearVel () const |
Get the linear velocity of the entity. More... | |
ignition::math::Pose3d | RelativePose () const |
Get the pose of the entity relative to its parent. More... | |
virtual void | RemoveChild (EntityPtr _child) |
Remove a child. 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... | |
bool | RemoveJoint (const std::string &_name) |
Remove a joint for this model. More... | |
void | Reset () |
Reset the model. More... | |
virtual void | Reset (Base::EntityType _resetType) |
Calls recursive Reset on one of the Base::EntityType's. More... | |
void | ResetPhysicsStates () |
Reset the velocity, acceleration, force and torque of all child links. More... | |
ignition::math::Vector3d | Scale () const |
Get the scale of model. More... | |
std::vector< std::string > | SensorScopedName (const std::string &_name) const |
Get scoped sensor name(s) in the model that matches sensor name. More... | |
void | SetAngularAccel (const ignition::math::Vector3d &_vel) GAZEBO_DEPRECATED(9.0) |
Set the angular acceleration of the model, and all its links. More... | |
void | SetAngularVel (const ignition::math::Vector3d &_vel) |
Set the angular velocity of the model, and all its links. More... | |
void | SetAnimation (const common::PoseAnimationPtr &_anim, boost::function< void()> _onComplete) |
Set an animation for this entity. More... | |
void | SetAnimation (common::PoseAnimationPtr _anim) |
Set an animation for this entity. More... | |
void | SetAutoDisable (bool _disable) |
Allow the model the auto disable. More... | |
void | SetCanonicalLink (bool _value) |
Set to true if this entity is a canonical link for a model. More... | |
void | SetCollideMode (const std::string &_mode) |
This is not implemented in Link, which means this function doesn't do anything. More... | |
void | SetEnabled (bool _enabled) |
Enable all the links in all the models. More... | |
void | SetGravityMode (const bool &_value) |
Set the gravity mode of the model. More... | |
void | SetInitialRelativePose (const ignition::math::Pose3d &_pose) |
Set the initial pose. More... | |
void | SetJointAnimation (const std::map< std::string, common::NumericAnimationPtr > &_anims, boost::function< void()> _onComplete=NULL) |
Joint Animation. More... | |
void | SetJointPosition (const std::string &_jointName, double _position, int _index=0) |
Set the positions of a Joint by name. More... | |
void | SetJointPositions (const std::map< std::string, double > &_jointPositions) |
Set the positions of a set of joints. More... | |
void | SetLaserRetro (const float _retro) |
Set the laser retro reflectiveness of the model. More... | |
void | SetLinearAccel (const ignition::math::Vector3d &_vel) GAZEBO_DEPRECATED(9.0) |
Set the linear acceleration of the model, and all its links. More... | |
void | SetLinearVel (const ignition::math::Vector3d &_vel) |
Set the linear velocity of the model, and all its links. More... | |
void | SetLinkWorldPose (const ignition::math::Pose3d &_pose, std::string _linkName) |
Set the Pose of the entire Model by specifying desired Pose of a Link within the Model. More... | |
void | SetLinkWorldPose (const ignition::math::Pose3d &_pose, const LinkPtr &_link) |
Set the Pose of the entire Model by specifying desired Pose of a Link within the Model. More... | |
virtual void | SetName (const std::string &_name) |
Set the name of the entity. More... | |
void | SetParent (BasePtr _parent) |
Set the parent. More... | |
void | SetRelativePose (const ignition::math::Pose3d &_pose, const bool _notify=true, const bool _publish=true) |
Set the pose of the entity relative to its parent. More... | |
void | SetSaveable (bool _v) |
Set whether the object should be "saved", when the user selects to save the world to xml. More... | |
void | SetScale (const ignition::math::Vector3d &_scale, const bool _publish=false) |
Set the scale of model. More... | |
virtual bool | SetSelected (bool _show) |
Set whether this entity has been selected by the user through the gui. More... | |
virtual void | SetSelfCollide (bool _self_collide) |
Set this model's self_collide property. More... | |
void | SetState (const ModelState &_state) |
Set the current model state. More... | |
void | SetStatic (const bool &_static) |
Set whether this entity is static: immovable. More... | |
virtual void | SetWindMode (const bool _mode) |
Set whether wind affects this body. More... | |
void | SetWorld (const WorldPtr &_newWorld) |
Set the world this object belongs to. More... | |
void | SetWorldPose (const ignition::math::Pose3d &_pose, const bool _notify=true, const bool _publish=true) |
Set the world pose of the entity. More... | |
void | SetWorldTwist (const ignition::math::Vector3d &_linear, const ignition::math::Vector3d &_angular, const bool _updateChildren=true) |
Set angular and linear rates of an physics::Entity. More... | |
boost::shared_ptr< Model > | shared_from_this () |
Allow Model class to share itself as a boost shared_ptr. More... | |
virtual void | StopAnimation () |
Stop the current animations. More... | |
std::string | TypeStr () const |
Get the string name for the entity type. More... | |
virtual const sdf::ElementPtr | UnscaledSDF () |
void | Update () |
Update the model. 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... | |
virtual bool | WindMode () const |
Get the wind mode. More... | |
virtual ignition::math::Vector3d | WorldAngularAccel () const |
Get the angular acceleration of the entity in the world frame. More... | |
virtual ignition::math::Vector3d | WorldAngularVel () const |
Get the angular velocity of the entity in the world frame. More... | |
virtual ignition::math::Vector3d | WorldLinearAccel () const |
Get the linear acceleration of the entity in the world frame. More... | |
virtual ignition::math::Vector3d | WorldLinearVel () const |
Get the linear velocity of the entity in the world frame. More... | |
virtual const ignition::math::Pose3d & | WorldPose () const |
Get the absolute pose of the entity. More... | |
Protected Member Functions | |
void | ComputeScopedName () |
Compute the scoped name of this object based on its parents. More... | |
virtual void | OnPoseChange () |
Callback when the pose of the model has been changed. More... | |
virtual void | RegisterIntrospectionItems () |
Register items in the introspection service. More... | |
virtual void | UnregisterIntrospectionItems () |
Unregister items in the introspection service. More... | |
Protected Attributes | |
common::PoseAnimationPtr | animation |
Current pose animation. More... | |
event::ConnectionPtr | animationConnection |
Connection used to update an animation. More... | |
ignition::math::Pose3d | animationStartPose |
Start pose of an animation. More... | |
std::vector< ModelPtr > | attachedModels |
used by Model::AttachStaticModel More... | |
std::vector < ignition::math::Pose3d > | attachedModelsOffset |
used by Model::AttachStaticModel More... | |
Base_V | children |
Children of this entity. More... | |
std::vector< event::ConnectionPtr > | connections |
All our event connections. More... | |
ignition::math::Pose3d | dirtyPose |
The pose set by a physics engine. More... | |
std::vector< common::URI > | introspectionItems |
All the introspection items regsitered for this. More... | |
transport::PublisherPtr | jointPub |
Publisher for joint info. More... | |
transport::NodePtr | node |
Communication node. More... | |
ignition::transport::Node | nodeIgn |
Ignition communication node. More... | |
BasePtr | parent |
Parent of this entity. More... | |
EntityPtr | parentEntity |
A helper that prevents numerous dynamic_casts. More... | |
common::Time | prevAnimationTime |
Previous time an animation was updated. More... | |
transport::PublisherPtr | requestPub |
Request publisher. More... | |
ignition::transport::Node::Publisher | requestPubIgn |
Request publisher. More... | |
ignition::math::Vector3d | scale |
Scale of the entity. More... | |
sdf::ElementPtr | sdf |
The SDF values for this object. More... | |
transport::PublisherPtr | visPub |
Visual publisher. More... | |
ignition::transport::Node::Publisher | visPubIgn |
Visual publisher. More... | |
msgs::Visual * | visualMsg |
Visual message container. More... | |
WorldPtr | world |
Pointer to the world. More... | |
ignition::math::Pose3d | worldPose |
World pose of the entity. More... | |
A model is a collection of links, joints, and plugins.
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inherited |
Unique identifiers for all entity types.
Enumerator | |
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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. |
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explicit |
Constructor.
[in] | _parent | Parent object. |
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virtual |
Destructor.
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inherited |
Add a child to this entity.
[in] | _child | Child entity. |
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inherited |
Add a type specifier.
[in] | _type | New type to append to this objects type definition. |
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inherited |
Attach a static model to this model.
This function takes as input a static Model, which is a Model that has been marked as static (no physics simulation), and attaches it to this Model with a given offset.
This function is useful when you want to simulate a grasp of a static object, or move a static object around using a dynamic model.
If you are in doubt, do not use this function.
[in] | _model | Pointer to the static model. |
[in] | _offset | Offset, relative to this Model, to place _model. |
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virtualinherited |
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inherited |
Returns collision bounding box.
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protectedinherited |
Compute the scoped name of this object based on its parents.
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inherited |
Create a joint for this model.
[in] | _name | name of joint |
[in] | _type | type of joint |
[in] | _parent | parent link of joint |
[in] | _child | child link of joint |
common::Exception | When _type is not recognized |
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inherited |
Create a joint for this model.
[in] | _sdf | SDF parameters for <joint> |
common::Exception | When _type is not recognized |
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inherited |
Create a new link for this model.
[in] | _name | name of the new link |
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inherited |
Detach a static model from this model.
[in] | _model | Name of an attached static model to remove. |
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inherited |
Returns Entity::dirtyPose.
The dirty pose is the pose set by the physics engine before it's value is propagated to the rest of the simulator.
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virtualinherited |
Fill a model message.
[in] | _msg | Message to fill using this model's data. |
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virtualinherited |
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inherited |
Return the value of the SDF <allow_auto_disable> element.
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inherited |
Get by name.
[in] | _name | Get a child (or self) object by name |
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inherited |
Get a child by index.
[in] | _i | Index of the child to retreive. |
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inherited |
Get a child by name.
[in] | _name | Name of the child. |
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inherited |
Get a child collision entity, if one exists.
[in] | _name | Name of the child collision object. |
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inherited |
Get the number of children.
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inherited |
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inherited |
Get a gripper based on an index.
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inherited |
Get the number of grippers in this model.
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inherited |
Return the ID of this entity.
This id is unique.
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inherited |
Get a joint.
name | The name of the joint, specified in the world file |
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inherited |
Get a handle to the Controller for the joints in this model.
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inherited |
Get the number of joints.
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inherited |
Get the joints.
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inherited |
Get a link by name.
[in] | _name | Name of the link to get. |
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inherited |
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inherited |
Return the name of the entity.
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inherited |
Get the distance to the nearest entity below (along the Z-axis) this entity.
[out] | _distBelow | The distance to the nearest entity below. |
[out] | _entityName | The name of the nearest entity below. |
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inherited |
Get the parent.
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inherited |
Return the ID of the parent.
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inherited |
Get the parent model, if one exists.
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inherited |
Get the number of plugins this model has.
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inherited |
Get whether the object should be "saved", when the user selects to save the world to xml.
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inherited |
Return the name of this entity with the model scope model1::...::modelN::entityName.
[in] | _prependWorldName | True to prended the returned string with the world name. The result will be world::model1::...::modelN::entityName. |
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virtualinherited |
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virtualinherited |
If true, all links within the model will collide by default.
Two links within the same model will not collide if both have link.self_collide == false. link 1 and link2 collide = link1.self_collide || link2.self_collide Bodies connected by a joint are exempt from this, and will never collide.
Reimplemented in Actor.
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inherited |
Get the number of sensors attached to this model.
This will count all the sensors attached to all the links.
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inherited |
Get the full type definition.
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inherited |
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inherited |
Returns this model's total energy, or sum of Model::GetWorldEnergyPotential() and Model::GetWorldEnergyKinetic().
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inherited |
Returns sum of the kinetic energies of all links in this model.
Computed using link's CoG velocity in the inertial (world) frame.
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inherited |
Returns the potential energy of all links and joint springs in the model.
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inherited |
Returns true if this object's type definition has the given type.
[in] | _t | Type to check. |
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virtual |
Initialize the model.
Reimplemented from Model.
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inherited |
Get the initial relative pose.
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inlineinherited |
A helper function that checks if this is a canonical body.
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inherited |
True if the entity is selected by the user.
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inherited |
Return whether this entity is static.
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virtual |
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inherited |
Load all the joints.
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inherited |
Load all plugins.
Load all plugins specified in the SDF for the model.
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inherited |
Get a nested model that is a direct child of this model.
[in] | _name | Name of the child model to get. |
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inherited |
Get all the nested models.
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protectedvirtualinherited |
Callback when the pose of the model has been changed.
Implements Entity.
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inherited |
Returns true if the entities are the same.
Checks only the name.
[in] | _ent | Base object to compare with. |
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inherited |
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inherited |
Move this entity to be ontop of the nearest entity below.
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inherited |
Get information about plugins in this model or one of its children, according to the given _pluginUri.
Some accepted URI patterns:
[in] | _pluginUri | URI for the desired plugin(s). |
[out] | _plugins | Message containing vector of plugins. |
[out] | _success | True if the info was successfully obtained. |
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inherited |
Print this object to screen via gzmsg.
[in] | _prefix | Usually a set of spaces. |
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inherited |
Update parameters from a model message.
[in] | _msg | Message to process. |
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protectedvirtualinherited |
Register items in the introspection service.
Reimplemented from Base.
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virtualinherited |
Get the angular acceleration of the entity.
Reimplemented from Entity.
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virtualinherited |
Get the angular velocity of the entity.
Reimplemented from Entity.
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virtualinherited |
Get the linear acceleration of the entity.
Reimplemented from Entity.
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virtualinherited |
Get the linear velocity of the entity.
Reimplemented from Entity.
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inherited |
Get the pose of the entity relative to its parent.
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virtualinherited |
Remove a child.
[in] | _child | Remove a child entity. |
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virtualinherited |
Remove a child from this entity.
[in] | _id | ID of the child to remove. |
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inherited |
Remove a child by name.
[in] | _name | Name of the child. |
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inherited |
Remove a child by pointer.
[in] | _child | Pointer to the child. |
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inherited |
Remove all children.
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inherited |
Remove a joint for this model.
[in] | _name | name of joint |
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virtualinherited |
Reset the model.
Reimplemented from Entity.
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virtualinherited |
Calls recursive Reset on one of the Base::EntityType's.
[in] | _resetType | The type of reset operation |
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inherited |
Reset the velocity, acceleration, force and torque of all child links.
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inherited |
Get the scale of model.
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inherited |
Get scoped sensor name(s) in the model that matches sensor name.
Get the names of sensors in the model where sensor name matches the user provided argument.
[in] | _name | Unscoped sensor name. |
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inherited |
Set the angular acceleration of the model, and all its links.
[in] | _vel | The new angular acceleration |
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inherited |
Set the angular velocity of the model, and all its links.
[in] | _vel | The new angular velocity. |
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inherited |
Set an animation for this entity.
[in] | _anim | Pose animation. |
[in] | _onComplete | Callback for when the animation completes. |
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inherited |
Set an animation for this entity.
[in] | _anim | Pose animation. |
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inherited |
Allow the model the auto disable.
This is ignored if the model has joints.
[in] | _disable | If true, the model is allowed to auto disable. |
|
inherited |
Set to true if this entity is a canonical link for a model.
[in] | _value | True if the link is canonical. |
|
inherited |
This is not implemented in Link, which means this function doesn't do anything.
Set the collide mode of the model.
[in] | _mode | The collision mode |
|
inherited |
Enable all the links in all the models.
[in] | _enabled | True to enable all the links. |
|
inherited |
Set the gravity mode of the model.
[in] | _value | True to enable gravity. |
|
inherited |
Set the initial pose.
[in] | _pose | The initial pose. |
|
inherited |
Joint Animation.
[in] | _anim | Map of joint names to their position animation. |
[in] | _onComplete | Callback function for when the animation completes. |
|
inherited |
Set the positions of a Joint by name.
[in] | _jointName | Name of the joint to set. |
[in] | _position | Position to set the joint to. |
|
inherited |
Set the positions of a set of joints.
[in] | _jointPositions | Map of joint names to their positions. |
|
inherited |
Set the laser retro reflectiveness of the model.
[in] | _retro | Retro reflectance value. |
|
inherited |
Set the linear acceleration of the model, and all its links.
[in] | _vel | The new linear acceleration. |
|
inherited |
Set the linear velocity of the model, and all its links.
[in] | _vel | The new linear velocity. |
|
inherited |
|
inherited |
|
virtualinherited |
|
inherited |
Set the parent.
[in] | _parent | Parent object. |
|
inherited |
Set the pose of the entity relative to its parent.
[in] | _pose | The new pose. |
[in] | _notify | True = tell children of the pose change. |
[in] | _publish | True to publish the pose. |
|
inherited |
Set whether the object should be "saved", when the user selects to save the world to xml.
[in] | _v | Set to True if the object should be saved. |
|
inherited |
Set the scale of model.
[in] | _scale | Scale to set the model to. |
[in] | _publish | True to publish a message for the client with the new scale. |
|
virtualinherited |
Set whether this entity has been selected by the user through the gui.
[in] | _show | True to set this entity as selected. |
Reimplemented in Link.
|
virtualinherited |
Set this model's self_collide property.
[in] | _self_collide | True if self-collisions enabled by default. |
Reimplemented in Actor.
|
inherited |
Set the current model state.
[in] | _state | State to set the model to. |
|
inherited |
Set whether this entity is static: immovable.
[in] | _static | True = static. |
|
virtualinherited |
Set whether wind affects this body.
[in] | _mode | True to enable wind. |
Reimplemented in Actor.
|
inherited |
Set the world this object belongs to.
This will also set the world for all children.
[in] | _newWorld | The new World this object is part of. |
|
inherited |
Set the world pose of the entity.
[in] | _pose | The new world pose. |
[in] | _notify | True = tell children of the pose change. |
[in] | _publish | True to publish the pose. |
|
inherited |
Set angular and linear rates of an physics::Entity.
[in] | _linear | Linear twist. |
[in] | _angular | Angular twist. |
[in] | _updateChildren | True to pass this update to child entities. |
|
inherited |
Allow Model class to share itself as a boost shared_ptr.
|
virtualinherited |
Stop the current animations.
Reimplemented from Entity.
|
inherited |
Get the string name for the entity type.
|
protectedvirtualinherited |
Unregister items in the introspection service.
|
virtualinherited |
|
virtualinherited |
Update the model.
Reimplemented from Base.
|
virtualinherited |
|
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.
|
virtualinherited |
|
virtualinherited |
Get the angular acceleration of the entity in the world frame.
Reimplemented from Entity.
|
virtualinherited |
Get the angular velocity of the entity in the world frame.
Reimplemented from Entity.
|
virtualinherited |
Get the linear acceleration of the entity in the world frame.
Reimplemented from Entity.
|
virtualinherited |
Get the linear velocity of the entity in the world frame.
Reimplemented from Entity.
|
inlinevirtualinherited |
Get the absolute pose of the entity.
Reimplemented in Collision, and Light.
References Entity::worldPose.
|
protectedinherited |
Current pose animation.
|
protectedinherited |
Connection used to update an animation.
|
protectedinherited |
Start pose of an animation.
|
protectedinherited |
used by Model::AttachStaticModel
|
protectedinherited |
used by Model::AttachStaticModel
|
protectedinherited |
Children of this entity.
|
protectedinherited |
All our event connections.
|
protectedinherited |
The pose set by a physics engine.
|
protectedinherited |
All the introspection items regsitered for this.
|
protectedinherited |
Publisher for joint info.
|
protectedinherited |
Communication node.
|
protectedinherited |
Ignition communication node.
|
protectedinherited |
Parent of this entity.
|
protectedinherited |
A helper that prevents numerous dynamic_casts.
|
protectedinherited |
Previous time an animation was updated.
|
protectedinherited |
Request publisher.
|
protectedinherited |
Request publisher.
|
protectedinherited |
Scale of the entity.
|
protectedinherited |
The SDF values for this object.
|
protectedinherited |
Visual publisher.
|
protectedinherited |
Visual publisher.
|
protectedinherited |
Visual message container.
|
protectedinherited |
Pointer to the world.
|
mutableprotectedinherited |
World pose of the entity.
Referenced by Entity::WorldPose().