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gazebo
physics
ModelState.hh
Go to the documentation of this file.
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/*
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* Copyright 2011 Nate Koenig
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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/* Desc: A model state
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* Author: Nate Koenig
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*/
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#ifndef _MODEL_STATE_HH_
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#define _MODEL_STATE_HH_
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#include <vector>
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#include <string>
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#include "
physics/State.hh
"
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#include "
physics/LinkState.hh
"
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#include "
physics/JointState.hh
"
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#include "
math/Pose.hh
"
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namespace
gazebo
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{
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namespace
physics
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{
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class
ModelState
:
public
State
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{
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public
:
ModelState
();
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public
:
explicit
ModelState
(
ModelPtr
_model);
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public
:
virtual
~ModelState
();
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public
:
virtual
void
Load
(
sdf::ElementPtr
_elem);
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public
:
math::Pose
GetPose
()
const
;
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public
:
unsigned
int
GetLinkStateCount
()
const
;
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public
:
LinkState
GetLinkState
(
unsigned
int
_index)
const
;
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public
:
LinkState
GetLinkState
(
const
std::string &_linkName)
const
;
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public
:
unsigned
int
GetJointStateCount
()
const
;
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public
:
JointState
GetJointState
(
unsigned
int
_index)
const
;
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public
:
JointState
GetJointState
(
const
std::string &_jointName)
const
;
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public
:
void
FillStateSDF
(
sdf::ElementPtr
_elem);
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public
:
void
UpdateModelSDF
(
sdf::ElementPtr
_elem);
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private
:
math::Pose
pose;
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private
: std::vector<LinkState> linkStates;
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private
: std::vector<JointState> jointStates;
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};
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}
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}
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#endif