Base class for all collision entities. More...

#include <Collision.hh>

Inheritance diagram for gazebo::physics::Collision:

Public Member Functions
	Collision (LinkPtr _link)
	Constructor.

virtual	~Collision ()
	Destructor.

void	AddContact (const Contact &_contact)
	Add an occurance of a contact to this collision.

template<typename T >
event::ConnectionPtr	ConnectContact (T _subscriber)
	Setup callback for contact event.

void	DisconnectContact (event::ConnectionPtr &_conn)
	Disconnect callback for contact event.

void	FillCollisionMsg (msgs::Collision &_msg) GAZEBO_DEPRECATED
	DEPRECATED.

void	FillMsg (msgs::Collision &_msg)
	Fill a collision message.

void	Fini ()
	Finalize the collision.

virtual math::Box	GetBoundingBox () const =0
	Get the bounding box for this collision.

bool	GetContactsEnabled () const
	Return true of contacts are on.

float	GetLaserRetro () const
	Get the laser retro reflectiveness.

LinkPtr	GetLink () const
	Get the link this collision belongs to.

ModelPtr	GetModel () const
	Get the model this collision belongs to.

virtual math::Vector3	GetRelativeAngularAccel () const
	Get the angular acceleration of the collision.

virtual math::Vector3	GetRelativeAngularVel () const
	Get the angular velocity of the collision.

virtual math::Vector3	GetRelativeLinearAccel () const
	Get the linear acceleration of the collision.

virtual math::Vector3	GetRelativeLinearVel () const
	Get the linear velocity of the collision.

ShapePtr	GetShape () const
	Get the collision shape.

unsigned int	GetShapeType ()
	Get the shape type.

CollisionState	GetState ()
	Get the collision state.

SurfaceParamsPtr	GetSurface () const
	Get the surface parameters.

virtual math::Vector3	GetWorldAngularAccel () const
	Get the angular acceleration of the collision in the world frame.

virtual math::Vector3	GetWorldAngularVel () const
	Get the angular velocity of the collision in the world frame.

virtual math::Vector3	GetWorldLinearAccel () const
	Get the linear acceleration of the collision in the world frame.

virtual math::Vector3	GetWorldLinearVel () const
	Get the linear velocity of the collision in the world frame.

virtual void	Init ()
	Initialize the collision.

bool	IsPlaceable () const
	Return whether this collision is movable.

virtual void	Load (sdf::ElementPtr _sdf)
	Load the collision.

void	ProcessMsg (const msgs::Collision &_msg)
	Update parameters from a message.

virtual void	SetCategoryBits (unsigned int _bits)=0
	Set the category bits, used during collision detection.

virtual void	SetCollideBits (unsigned int _bits)=0
	Set the collide bits, used during collision detection.

void	SetCollision (bool _placeable)
	Set the encapsulated collsion object.

void	SetContactsEnabled (bool _enable)
	Turn contact recording on or off.

void	SetLaserRetro (float _retro)
	Set the laser retro reflectiveness.

void	SetShape (ShapePtr _shape)
	Set the shape for this collision.

void	SetState (const CollisionState &_state)
	Set the current collision state.

virtual void	UpdateParameters (sdf::ElementPtr _sdf)
	Update the parameters using new sdf values.

Public Member Functions inherited from gazebo::physics::Entity
	Entity (BasePtr _parent)
	Constructor.

virtual	~Entity ()
	Destructor.

CollisionPtr	GetChildCollision (const std::string &_name)
	Get a child collision entity, if one exists.

LinkPtr	GetChildLink (const std::string &_name)
	Get a child linke entity, if one exists.

math::Box	GetCollisionBoundingBox () const
	Returns collision bounding box.

const math::Pose &	GetDirtyPose () const
	Returns Entity::dirtyPose.

void	GetNearestEntityBelow (double &_distBelow, std::string &_entityName)
	Get the distance to the nearest entity below (along the Z-axis) this entity.

ModelPtr	GetParentModel ()
	Get the parent model, if one exists.

math::Pose	GetRelativePose () const
	Get the pose of the entity relative to its parent.

const math::Pose &	GetWorldPose () const
	Get the absolute pose of the entity.

bool	IsCanonicalLink () const
	A helper function that checks if this is a canonical body.

bool	IsStatic () const
	Return whether this entity is static.

void	PlaceOnEntity (const std::string &_entityName)
	Move this entity to be ontop of another entity by name.

void	PlaceOnNearestEntityBelow ()
	Move this entity to be ontop of the nearest entity below.

virtual void	Reset ()
	Reset the entity.

void	SetAnimation (const common::PoseAnimationPtr &_anim, boost::function< void()> _onComplete)
	Set an animation for this entity.

void	SetAnimation (common::PoseAnimationPtr _anim)
	Set an animation for this entity.

void	SetCanonicalLink (bool _value)
	Set to true if this entity is a canonical link for a model.

void	SetInitialRelativePose (const math::Pose &_pose)
	Set the initial pose.

virtual void	SetName (const std::string &_name)
	Set the name of the entity.

void	SetRelativePose (const math::Pose &_pose, bool _notify=true, bool _publish=true)
	Set the pose of the entity relative to its parent.

void	SetStatic (const bool &_static)
	Set whether this entity is static: immovable.

void	SetWorldPose (const math::Pose &_pose, bool _notify=true, bool _publish=true)
	Set the world pose of the entity.

void	SetWorldTwist (const math::Vector3 &_linear, const math::Vector3 &_angular, bool _updateChildren=true)
	Set angular and linear rates of an physics::Entity.

virtual void	StopAnimation ()
	Stop the current animation, if any.

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.

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.

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 (Base::EntityType _resetType)
	Calls recursive Reset on one of the Base::EntityType's.

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	Update ()
	Update the object.

Protected Attributes
LinkPtr	link
	The link this collision belongs to.

bool	placeable
	Flag for placeable.

ShapePtr	shape
	Pointer to physics::Shape.

Protected Attributes inherited from gazebo::physics::Entity
common::PoseAnimationPtr	animation
	Current pose animation.

event::ConnectionPtr	animationConnection
	Connection used to update an animation.

math::Pose	animationStartPose
	Start pose of an animation.

std::vector< event::ConnectionPtr >	connections
	All our event connections.

math::Pose	dirtyPose
	The pose set by a physics engine.

transport::NodePtr	node
	Communication node.

EntityPtr	parentEntity
	A helper that prevents numerous dynamic_casts.

msgs::Pose *	poseMsg
	Pose message containr.

common::Time	prevAnimationTime
	Previous time an animation was updated.

transport::PublisherPtr	requestPub
	Request publisher.

transport::PublisherPtr	visPub
	Visual publisher.

msgs::Visual *	visualMsg
	Visual message container.

Protected Attributes inherited from gazebo::physics::Base
Base_V	children
	Children of this entity.

Base_V::iterator	childrenEnd
	End of the children vector.

BasePtr	parent
	Parent of this entity.

sdf::ElementPtr	sdf
	The SDF values for this object.

WorldPtr	world
	Pointer to the world.

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...

Protected Member Functions inherited from gazebo::physics::Entity
virtual void	OnPoseChange ()=0
	This function is called when the entity's (or one of its parents) pose of the parent has changed.

Detailed Description

Base class for all collision entities.

Constructor & Destructor Documentation

gazebo::physics::Collision::Collision ( LinkPtr _link )

explicit

Constructor.

Parameters

[in] _link Link that contains this collision object.

virtual gazebo::physics::Collision::~Collision ( )

virtual

Destructor.

Member Function Documentation

void gazebo::physics::Collision::AddContact ( const Contact & _contact )

Add an occurance of a contact to this collision.

Parameters

[in] _contact The contact which was detected by a collision engine.

template<typename T >

event::ConnectionPtr gazebo::physics::Collision::ConnectContact ( T _subscriber )

inline

Setup callback for contact event.

Parameters

[in] _subscriber The callback.

Returns: Pointer to the new connection, which must be kept in scope.

References gazebo::event::EventT< T >::Connect().

void gazebo::physics::Collision::DisconnectContact ( event::ConnectionPtr & _conn )

inline

Disconnect callback for contact event.

Parameters

[in] _conn The connection to disconnect.

References gazebo::event::EventT< T >::Disconnect().

void gazebo::physics::Collision::FillCollisionMsg ( msgs::Collision & _msg )

DEPRECATED.

void gazebo::physics::Collision::FillMsg ( msgs::Collision & _msg )

Fill a collision message.

Parameters

[out] _msg The message to fill with this collision's data.

void gazebo::physics::Collision::Fini ( )

virtual

Finalize the collision.

Reimplemented from gazebo::physics::Entity.

Reimplemented in gazebo::physics::ODECollision.

virtual math::Box gazebo::physics::Collision::GetBoundingBox ( ) const

pure virtual

Get the bounding box for this collision.

Returns: The bounding box.

Reimplemented from gazebo::physics::Entity.

Implemented in gazebo::physics::ODECollision, and gazebo::physics::BulletCollision.

bool gazebo::physics::Collision::GetContactsEnabled ( ) const

Return true of contacts are on.

Returns: True of contact are on.

float gazebo::physics::Collision::GetLaserRetro ( ) const

Get the laser retro reflectiveness.

Returns: The laser retro value.

LinkPtr gazebo::physics::Collision::GetLink ( ) const

Get the link this collision belongs to.

Returns: The parent Link.

ModelPtr gazebo::physics::Collision::GetModel ( ) const

Get the model this collision belongs to.

Returns: The parent model.

virtual math::Vector3 gazebo::physics::Collision::GetRelativeAngularAccel ( ) const

virtual

Get the angular acceleration of the collision.

Returns: The angular acceleration of the collision.

Reimplemented from gazebo::physics::Entity.

virtual math::Vector3 gazebo::physics::Collision::GetRelativeAngularVel ( ) const

virtual

Get the angular velocity of the collision.

Returns: The angular velocity of the collision.

Reimplemented from gazebo::physics::Entity.

virtual math::Vector3 gazebo::physics::Collision::GetRelativeLinearAccel ( ) const

virtual

Get the linear acceleration of the collision.

Returns: The linear acceleration of the collision.

Reimplemented from gazebo::physics::Entity.

virtual math::Vector3 gazebo::physics::Collision::GetRelativeLinearVel ( ) const

virtual

Get the linear velocity of the collision.

Returns: The linear velocity relative to the parent model.

Reimplemented from gazebo::physics::Entity.

ShapePtr gazebo::physics::Collision::GetShape ( ) const

Get the collision shape.

Returns: The collision shape.

unsigned int gazebo::physics::Collision::GetShapeType ( )

Get the shape type.

Returns: The shape type.

See Also: EntityType

CollisionState gazebo::physics::Collision::GetState ( )

Get the collision state.

Returns: The collision state.

SurfaceParamsPtr gazebo::physics::Collision::GetSurface ( ) const

inline

Get the surface parameters.

Returns: The surface parameters.

virtual math::Vector3 gazebo::physics::Collision::GetWorldAngularAccel ( ) const

virtual

Get the angular acceleration of the collision in the world frame.

Returns: The angular acceleration of the collision in the world frame.

Reimplemented from gazebo::physics::Entity.

virtual math::Vector3 gazebo::physics::Collision::GetWorldAngularVel ( ) const

virtual

Get the angular velocity of the collision in the world frame.

Returns: The angular velocity of the collision in the world frame.

Reimplemented from gazebo::physics::Entity.

virtual math::Vector3 gazebo::physics::Collision::GetWorldLinearAccel ( ) const

virtual

Get the linear acceleration of the collision in the world frame.

Returns: The linear acceleration of the collision in the world frame.

Reimplemented from gazebo::physics::Entity.

virtual math::Vector3 gazebo::physics::Collision::GetWorldLinearVel ( ) const

virtual

Get the linear velocity of the collision in the world frame.

Returns: The linear velocity of the collision in the world frame.

Reimplemented from gazebo::physics::Entity.

virtual void gazebo::physics::Collision::Init ( )

virtual

Initialize the collision.

Reimplemented from gazebo::physics::Base.

bool gazebo::physics::Collision::IsPlaceable ( ) const

Return whether this collision is movable.

Example on an immovable object is a ray.

Returns: True if the object is immovable.

virtual void gazebo::physics::Collision::Load ( sdf::ElementPtr _sdf )

virtual

Load the collision.

Parameters

[in] _sdf SDF to load from.

Reimplemented from gazebo::physics::Entity.

Reimplemented in gazebo::physics::BulletCollision, and gazebo::physics::ODECollision.

void gazebo::physics::Collision::ProcessMsg ( const msgs::Collision & _msg )

Update parameters from a message.

Parameters

[in] _msg Message to update from.

virtual void gazebo::physics::Collision::SetCategoryBits ( unsigned int _bits )

pure virtual

Set the category bits, used during collision detection.

Parameters

[in] _bits The bits to set.

Implemented in gazebo::physics::ODECollision, and gazebo::physics::BulletCollision.

virtual void gazebo::physics::Collision::SetCollideBits ( unsigned int _bits )

pure virtual

Set the collide bits, used during collision detection.

Parameters

[in] _bits The bits to set.

Implemented in gazebo::physics::ODECollision, and gazebo::physics::BulletCollision.

void gazebo::physics::Collision::SetCollision ( bool _placeable )

Set the encapsulated collsion object.

Parameters

[in] _placeable True to make the object m.

void gazebo::physics::Collision::SetContactsEnabled ( bool _enable )

Turn contact recording on or off.

Parameters

[in] _enable True to enable collision contacts.

void gazebo::physics::Collision::SetLaserRetro ( float _retro )

Set the laser retro reflectiveness.

Parameters

[in] _retro The laser retro value.

void gazebo::physics::Collision::SetShape ( ShapePtr _shape )

Set the shape for this collision.

Parameters

[in] _shape The shape for this collision object.

void gazebo::physics::Collision::SetState ( const CollisionState & _state )

Set the current collision state.

Parameters

[in] The collision state.

virtual void gazebo::physics::Collision::UpdateParameters ( sdf::ElementPtr _sdf )

virtual

Update the parameters using new sdf values.

Parameters

[in] _sdf SDF values to update from.

Reimplemented from gazebo::physics::Entity.

Member Data Documentation

LinkPtr gazebo::physics::Collision::link

protected

The link this collision belongs to.

bool gazebo::physics::Collision::placeable

protected

Flag for placeable.

ShapePtr gazebo::physics::Collision::shape

protected

Pointer to physics::Shape.

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

Collision.hh

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation