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gazebo::physics::BulletMultiRayShape Class Reference

Bullet specific version of MultiRayShape. More...

#include <BulletMultiRayShape.hh>

Inheritance diagram for gazebo::physics::BulletMultiRayShape:
Inheritance graph

Public Member Functions

 BulletMultiRayShape (CollisionPtr parent)
virtual ~BulletMultiRayShape ()
virtual void UpdateRays ()
 Update the rays.
- Public Member Functions inherited from gazebo::physics::MultiRayShape
 MultiRayShape (CollisionPtr _parent)
virtual ~MultiRayShape ()
template<typename T >
event::ConnectionPtr ConnectNewLaserScans (T _subscriber)
 Connect a to the new laser scan signal.
void DisconnectNewLaserScans (event::ConnectionPtr &_conn)
 Disconnect from the new laser scans signal.
void FillMsg (msgs::Geometry &_msg)
 This function is not implemented.
int GetFiducial (int _index)
 Get detected fiducial value for a ray.
math::Angle GetMaxAngle () const
 Get the maximum angle.
double GetMaxRange () const
 Get the maximum range.
math::Angle GetMinAngle () const
 Get the minimum angle.
double GetMinRange () const
 Get the minimum range.
double GetRange (int _index)
 Get detected range for a ray.
double GetResRange () const
 Get the range resolution.
double GetRetro (int _index)
 Get detected retro (intensity) value for a ray.
int GetSampleCount () const
 Get the horizontal sample count.
double GetScanResolution () const
 Get the horizontal resolution.
math::Angle GetVerticalMaxAngle () const
 Get the vertical max angle.
math::Angle GetVerticalMinAngle () const
 Get the vertical min angle.
int GetVerticalSampleCount () const
 Get the vertical sample count.
double GetVerticalScanResolution () const
 Get the vertical range resolution.
virtual void Init ()
 Init the shape.
virtual void ProcessMsg (const msgs::Geometry &_msg)
 This function is not implemented.
void Update ()
 Update the ray collisions.
- Public Member Functions inherited from gazebo::physics::Shape
 Shape (CollisionPtr p)
virtual ~Shape ()
virtual void FillShapeMsg (msgs::Geometry &_msg) GAZEBO_DEPRECATED
virtual void GetInertial (double _mass, InertialPtr _inertial) const
 Get inertial for a shape.
virtual double GetMass (double _density) const
 Get the mass of a shape.
- Public Member Functions inherited from gazebo::physics::Base
 Base (BasePtr parent)
virtual ~Base ()
void AddChild (BasePtr _child)
 Add a child to this entity.
void AddType (EntityType _type)
 Add a type specifier.
virtual void Fini ()
 Finialize the object.
BasePtr GetById (unsigned int _id) const
 Get a child or self by id.
BasePtr GetByName (const std::string &_name)
 Get by name.
BasePtr GetChild (unsigned int _i) const
 Get a child by index.
BasePtr GetChild (const std::string &_name)
 Get a child by name.
unsigned int GetChildCount () const
 Get the number of children.
unsigned int GetId () const
 Return the ID of this entity.
std::string GetName () const
 Return the name of the entity.
BasePtr GetParent () const
 Get the parent.
int GetParentId () const
 Return the ID of the parent.
bool GetSaveable () const
 Get whether the object should be "saved", when the user selects to save the world to xml.
std::string GetScopedName () const
 Return the name of this entity with the model scope world::model1::...::modelN::entityName.
virtual const sdf::ElementPtr GetSDF ()
 Get the SDF values for the object.
unsigned int GetType () const
 Get the full type definition.
const WorldPtrGetWorld () const
 Get the World this object is in.
bool HasType (const EntityType &_t) const
 Returns true if this object's type definition has the given type.
bool IsSelected () const
 True if the entity is selected by the user.
virtual void Load (sdf::ElementPtr _sdf)
bool operator== (const Base &_ent) const
 Returns true if the entities are the same.
void Print (const std::string &_prefix)
 Print this object to screen via gzmsg.
virtual void RemoveChild (unsigned int _id)
 Remove a child from this entity.
void RemoveChild (const std::string &_name)
 Remove a child by name.
void RemoveChildren ()
 Remove all children.
virtual void Reset ()
 Reset the object.
virtual void Reset (Base::EntityType _resetType)
 Calls recursive Reset on one of the Base::EntityType's.
virtual void SetName (const std::string &_name)
 Set the name of the entity.
void SetParent (BasePtr _parent)
 Set the parent.
void SetSaveable (bool _v)
 Set whether the object should be "saved", when the user selects to save the world to xml.
virtual bool SetSelected (bool _show)
 Set whether this entity has been selected by the user through the gui.
void SetWorld (const WorldPtr &_newWorld)
 Set the world this object belongs to.
virtual void UpdateParameters (sdf::ElementPtr _sdf)
 Update the parameters using new sdf values.

Protected Member Functions

void AddRay (const math::Vector3 &start, const math::Vector3 &end)
 Add a ray to the collision.

Additional Inherited Members

- Public Types inherited from gazebo::physics::Base
enum  EntityType {
  BASE = 0x00000000, ENTITY = 0x00000001, MODEL = 0x00000002, LINK = 0x00000004,
  COLLISION = 0x00000008, ACTOR = 0x00000016, LIGHT = 0x00000010, VISUAL = 0x00000020,
  JOINT = 0x00000040, BALL_JOINT = 0x00000080, HINGE2_JOINT = 0x00000100, HINGE_JOINT = 0x00000200,
  SLIDER_JOINT = 0x00000400, SCREW_JOINT = 0x00000800, UNIVERSAL_JOINT = 0x00001000, SHAPE = 0x00002000,
  BOX_SHAPE = 0x00004000, CYLINDER_SHAPE = 0x00008000, HEIGHTMAP_SHAPE = 0x00010000, MAP_SHAPE = 0x00020000,
  MULTIRAY_SHAPE = 0x00040000, RAY_SHAPE = 0x00080000, PLANE_SHAPE = 0x00100000, SPHERE_SHAPE = 0x00200000,
  TRIMESH_SHAPE = 0x00400000
 Unique identifiers for all entity types. More...
- Public Attributes inherited from gazebo::physics::Shape
CollisionPtr collisionParent
- Protected Attributes inherited from gazebo::physics::MultiRayShape
sdf::ElementPtr horzElem
 Horizontal SDF element pointer.
event::EventT< void()> newLaserScans
 New laser scans event.
math::Pose offset
 Pose offset of all the rays.
sdf::ElementPtr rangeElem
 Range SDF element pointer.
sdf::ElementPtr rayElem
 Ray SDF element pointer.
std::vector< RayShapePtrrays
 Ray data.
sdf::ElementPtr scanElem
 Scan SDF element pointer.
sdf::ElementPtr vertElem
 Vertical SDF element pointer.

Detailed Description

Bullet specific version of MultiRayShape.

Constructor & Destructor Documentation

gazebo::physics::BulletMultiRayShape::BulletMultiRayShape ( CollisionPtr  parent)


virtual gazebo::physics::BulletMultiRayShape::~BulletMultiRayShape ( )


Member Function Documentation

void gazebo::physics::BulletMultiRayShape::AddRay ( const math::Vector3 start,
const math::Vector3 end 

Add a ray to the collision.

Reimplemented from gazebo::physics::MultiRayShape.

virtual void gazebo::physics::BulletMultiRayShape::UpdateRays ( )

Update the rays.

Implements gazebo::physics::MultiRayShape.

The documentation for this class was generated from the following file: