gazebo::physics::LinkState Class Reference

Store state information of a physics::Link object. More...

#include <physics/LinkState.hh>

Inheritance diagram for gazebo::physics::LinkState:

Public Member Functions
	LinkState ()
	Default constructor.
	LinkState (const LinkPtr _link)
	Constructor.
virtual	~LinkState ()
	Destructor.
void	FillStateSDF (sdf::ElementPtr _elem)
	Fill a State SDF element with state info.
math::Pose	GetAcceleration () const
	Get the link acceleration.
CollisionState	GetCollisionState (unsigned int _index) const
	Get a collision state.
CollisionState	GetCollisionState (const std::string &_collisionName) const
	Get a link state by link name.
unsigned int	GetCollisionStateCount () const
	Get the number of link states.
std::list< math::Pose >	GetForces () const
	Get the forces applied to the Link.
math::Pose	GetPose () const
	Get the link pose.
math::Pose	GetVelocity () const
	Get the link velocity.
virtual void	Load (sdf::ElementPtr _elem)
	Load state from SDF element.
void	UpdateLinkSDF (sdf::ElementPtr _elem)
	Update a Link SDF element with this state info.
Public Member Functions inherited from gazebo::physics::State
	State ()
	Default constructor.
	State (const std::string &_name, const common::Time &_realTime, const common::Time &_simTime)
	Constructor.
virtual	~State ()
	Destructor.
std::string	GetName () const
	Get the name associated with this State.
common::Time	GetRealTime () const
	Get the real time when this state was generated.
common::Time	GetSimTime () const
	Get the sim time when this state was generated.
common::Time	GetWallTime () const
	Get the wall time when this state was generated.

Additional Inherited Members
Protected Attributes inherited from gazebo::physics::State
std::string	name
	Name associated with this State.
common::Time	realTime
common::Time	simTime
common::Time	wallTime
	Times for the state data.

Detailed Description

Store state information of a physics::Link object.

This class captures the entire state of a Link at one specific time during a simulation run.

State of a Link includes the state of itself all its child Collision entities.

Constructor & Destructor Documentation

gazebo::physics::LinkState::LinkState

(

)

Default constructor.

gazebo::physics::LinkState::LinkState ( const LinkPtr  _link )

explicit

Constructor.

Build a LinkState from an existing Link.

Parameters

[in]

_model

Pointer to the Link from which to gather state info.

virtual gazebo::physics::LinkState::~LinkState ( )

virtual

Destructor.

Member Function Documentation

void gazebo::physics::LinkState::FillStateSDF

(

sdf::ElementPtr

_elem

)

Fill a State SDF element with state info.

Stored state information into an SDF::Element pointer.

Parameters

[in]

_elem

Pointer to the SDF::Element which recieves the data.

math::Pose gazebo::physics::LinkState::GetAcceleration

(

)

const

Get the link acceleration.

Returns

The acceleration represented as a math::Pose

CollisionState gazebo::physics::LinkState::GetCollisionState

(

unsigned int

_index

)

const

Get a collision state.

Get a Collision State based on an index, where index is in the range of 0...LinkState::GetCollisionStateCount

Parameters

[in]

_index

Index of the CollisionState

Returns

State of the Collision

CollisionState gazebo::physics::LinkState::GetCollisionState

(

const std::string &

_collisionName

)

const

Get a link state by link name.

Searches through all CollisionStates. Returns the CollisionState with the matching name, if any.

Parameters

[in]

_collisionName

Name of the CollisionState

Returns

State of the Collision.

unsigned int gazebo::physics::LinkState::GetCollisionStateCount

(

)

const

Get the number of link states.

This returns the number of Collisions recorded.

Returns

Number of CollisionState recorded

std::list<math::Pose> gazebo::physics::LinkState::GetForces

(

)

const

Get the forces applied to the Link.

Returns

The list of forces represented as a math::Pose

math::Pose gazebo::physics::LinkState::GetPose

(

)

const

Get the link pose.

Returns

The math::Pose of the Link

math::Pose gazebo::physics::LinkState::GetVelocity

(

)

const

Get the link velocity.

Returns

The velocity represented as a math::Pose

virtual void gazebo::physics::LinkState::Load ( sdf::ElementPtr  _elem )

virtual

Load state from SDF element.

Load LinkState information from stored data in and SDF::Element

Parameters

[in]

_elem

Pointer to the SDF::Element containing state info.

Implements gazebo::physics::State.

void gazebo::physics::LinkState::UpdateLinkSDF

(

sdf::ElementPtr

_elem

)

Update a Link SDF element with this state info.

Set the values in a Links's SDF::Element with the information stored in this instance.

Parameters

[in]

_elem

Pointer to a Links's SDF::Element

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

• LinkState.hh