Ray shape for bullet. More...
#include <BulletRayShape.hh>
Public Member Functions | |
| BulletRayShape (PhysicsEnginePtr _physicsEngine) | |
| BulletRayShape (CollisionPtr _collision) | |
| Constructor. | |
| virtual | ~BulletRayShape () |
| Destructor. | |
| virtual void | GetIntersection (double &_dist, std::string &_entity) |
| Get the nearest intersection. | |
| void | SetPoints (const math::Vector3 &_posStart, const math::Vector3 &_posEnd) |
| Set the ray based on starting and ending points relative to the body. | |
| virtual void | Update () |
| Update the ray collision. | |
 Public Member Functions inherited from gazebo::physics::RayShape | |
| RayShape (PhysicsEnginePtr _physicsEngine) | |
| Constructor for a global ray. | |
| RayShape (CollisionPtr parent) | |
| Constructor. | |
| virtual | ~RayShape () |
| Destructor. | |
| void | FillMsg (msgs::Geometry &) |
| int | GetFiducial () const |
| Get the fiducial id detected by this ray. | |
| virtual void | GetGlobalPoints (math::Vector3 &posA, math::Vector3 &posB) |
| Get the global starting and ending points. | |
| double | GetLength () const |
| Get the length of the ray. | |
| virtual void | GetRelativePoints (math::Vector3 &posA, math::Vector3 &posB) |
| Get the relative starting and ending points. | |
| float | GetRetro () const |
| Get the retro-reflectivness detected by this ray. | |
| virtual void | Init () |
| In the ray. | |
| virtual void | ProcessMsg (const msgs::Geometry &) |
| void | SetFiducial (int fid) |
| Set the fiducial id detected by this ray. | |
| virtual void | SetLength (double len) |
| Set the length of the ray. | |
| void | SetRetro (float retro) |
| Set the retro-reflectivness detected by this ray. | |
| Public Member Functions inherited from gazebo::physics::Shape | |
| Shape (CollisionPtr p) | |
| Constructor. | |
| virtual | ~Shape () |
| Destructor. | |
| 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) | |
| Constructor. | |
| virtual | ~Base () |
| Destructor. | |
| 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 WorldPtr & | GetWorld () 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) |
| Load. | |
| 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. | |
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::RayShape | |
| int | contactFiducial |
| double | contactLen |
| Contact information; this is filled out during collision detection. | |
| double | contactRetro |
| math::Vector3 | globalEndPos |
| math::Vector3 | globalStartPos |
| Start and end positions of the ray in global cs. | |
| math::Vector3 | relativeEndPos |
| math::Vector3 | relativeStartPos |
| Start and end positions of the ray, relative to the body. | |
Ray shape for bullet.
| gazebo::physics::BulletRayShape::BulletRayShape | ( | PhysicsEnginePtr | _physicsEngine | ) |
| gazebo::physics::BulletRayShape::BulletRayShape | ( | CollisionPtr | _collision | ) |
Constructor.
| body | Link the ray is attached to |
|
virtual |
Destructor.
|
virtual |
Get the nearest intersection.
Implements gazebo::physics::RayShape.
|
virtual |
Set the ray based on starting and ending points relative to the body.
| posStart | Start position, relative the body |
| posEnd | End position, relative to the body |
Reimplemented from gazebo::physics::RayShape.
|
virtual |
Update the ray collision.
Implements gazebo::physics::RayShape.