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gazebo::physics::ODEPhysics Class Reference

ODE physics engine. More...

#include <ODEPhysics.hh>

Inheritance diagram for gazebo::physics::ODEPhysics:
Inheritance graph
[legend]

Public Member Functions

 ODEPhysics (WorldPtr world)
 Constructor.
 
virtual ~ODEPhysics ()
 Destructor.
 
void Collide (ODECollision *collision1, ODECollision *collision2, dContactGeom *contactCollisions)
 Collide two collisions.
 
virtual CollisionPtr CreateCollision (const std::string &_shapeType, LinkPtr _parent)
 Create a collision.
 
void CreateContact (ODECollision *collision1, ODECollision *collision2)
 Not yet implemented.
 
virtual JointPtr CreateJoint (const std::string &type, ModelPtr _parent)
 Create a new joint.
 
virtual LinkPtr CreateLink (ModelPtr _parent)
 Create a new body.
 
virtual ShapePtr CreateShape (const std::string &_shapeType, CollisionPtr _collision)
 Create a collision physics::Shape object given its type.
 
virtual void DebugPrint () const
 Debug print out of the physic engine state.
 
virtual void Fini ()
 Finilize the ODE engine.
 
double GetContactMaxCorrectingVel ()
 access functions to set ODE parameters
 
double GetContactSurfaceLayer ()
 access functions to set ODE parameters
 
math::Vector3 GetGravity () const
 Get gravity vector.
 
int GetMaxContacts ()
 access functions to set ODE parameters
 
int GetSORPGSIters ()
 access functions to set ODE parameters
 
int GetSORPGSPreconIters ()
 access functions to set ODE parameters
 
double GetSORPGSW ()
 access functions to set ODE parameters
 
dSpaceID GetSpaceId () const
 Return the space id.
 
virtual double GetStepTime ()
 Get the simulation step time.
 
virtual std::string GetStepType () const
 Get the step type.
 
double GetWorldCFM ()
 access functions to set ODE parameters
 
double GetWorldERP ()
 access functions to set ODE parameters
 
dWorldID GetWorldId ()
 Get the world id.
 
virtual void Init ()
 Initialize the ODE engine.
 
virtual void InitForThread ()
 Init the engine for threads.
 
virtual void Load (sdf::ElementPtr _sdf)
 Load the ODE engine.
 
void ProcessContactFeedback (ContactFeedback *feedback, msgs::Contact *_msg)
 process contact feedbacks into physics::ContactFeedback
 
void Reset ()
 Empties dynamically created contact joints.
 
void SetContactMaxCorrectingVel (double vel)
 access functions to set ODE parameters
 
void SetContactSurfaceLayer (double layer_depth)
 access functions to set ODE parameters
 
virtual void SetGravity (const gazebo::math::Vector3 &gravity)
 Set the gavity vector.
 
void SetMaxContacts (unsigned int max_contacts)
 access functions to set ODE parameters
 
void SetSORPGSIters (unsigned int iters)
 access functions to set ODE parameters
 
void SetSORPGSPreconIters (unsigned int iters)
 access functions to set ODE parameters
 
void SetSORPGSW (double w)
 access functions to set ODE parameters
 
void SetStepTime (double _value)
 Set the step time.
 
virtual void SetStepType (const std::string &_type)
 Set the step type.
 
void SetWorldCFM (double cfm)
 access functions to set ODE parameters
 
void SetWorldERP (double erp)
 access functions to set ODE parameters
 
virtual void UpdateCollision ()
 Update the ODE collision.
 
virtual void UpdatePhysics ()
 Update the ODE engine.
 
- Public Member Functions inherited from gazebo::physics::PhysicsEngine
 PhysicsEngine (WorldPtr _world)
 Default constructor.
 
virtual ~PhysicsEngine ()
 Destructor.
 
CollisionPtr CreateCollision (const std::string &_shapeType, const std::string &_linkName)
 Create a collision.
 
virtual bool GetAutoDisableFlag ()
 : Remove this function, and replace it with a more generic property map
 
math::Vector3 GetGravity () const
 Return the gavity vector.
 
boost::recursive_mutex * GetPhysicsUpdateMutex () const
 returns a pointer to the PhysicsEngine::physicsUpdateMutex.
 
double GetUpdatePeriod ()
 Get the simulation update period.
 
double GetUpdateRate ()
 Get the simulation update rate.
 
virtual void SetAutoDisableFlag (bool _autoDisable)
 : Remove this function, and replace it with a more generic property map
 
virtual void SetMaxContacts (double _maxContacts)
 : Remove this function, and replace it with a more generic property map
 
void SetUpdateRate (double _value)
 Set the simulation update rate.
 

Static Public Member Functions

static void ConvertMass (InertialPtr _interial, void *odeMass)
 Convert an odeMass to Mass.
 
static void ConvertMass (void *odeMass, InertialPtr _inertial)
 Convert an odeMass to Mass.
 

Protected Member Functions

virtual void OnPhysicsMsg (ConstPhysicsPtr &)
 act on a msgs::Physics message request
 
virtual void OnRequest (ConstRequestPtr &)
 act on a msgs::Request for physics
 

Additional Inherited Members

- Protected Attributes inherited from gazebo::physics::PhysicsEngine
transport::PublisherPtr contactPub
 Contact publisher.
 
transport::NodePtr node
 Node for communication.
 
transport::SubscriberPtr physicsSub
 Subscribe to the physics topic.
 
boost::recursive_mutex * physicsUpdateMutex
 Mutex to protect the update cycle.
 
transport::SubscriberPtr requestSub
 Subscribe to the request topic.
 
transport::PublisherPtr responsePub
 Response publisher.
 
sdf::ElementPtr sdf
 Our SDF values.
 
WorldPtr world
 Pointer to the world.
 

Detailed Description

ODE physics engine.

Constructor & Destructor Documentation

gazebo::physics::ODEPhysics::ODEPhysics ( WorldPtr  world)

Constructor.

virtual gazebo::physics::ODEPhysics::~ODEPhysics ( )
virtual

Destructor.

Member Function Documentation

void gazebo::physics::ODEPhysics::Collide ( ODECollision collision1,
ODECollision collision2,
dContactGeom *  contactCollisions 
)

Collide two collisions.

static void gazebo::physics::ODEPhysics::ConvertMass ( InertialPtr  _interial,
void *  odeMass 
)
static

Convert an odeMass to Mass.

static void gazebo::physics::ODEPhysics::ConvertMass ( void *  odeMass,
InertialPtr  _inertial 
)
static

Convert an odeMass to Mass.

virtual CollisionPtr gazebo::physics::ODEPhysics::CreateCollision ( const std::string &  _shapeType,
LinkPtr  _parent 
)
virtual

Create a collision.

Implements gazebo::physics::PhysicsEngine.

void gazebo::physics::ODEPhysics::CreateContact ( ODECollision collision1,
ODECollision collision2 
)

Not yet implemented.

virtual JointPtr gazebo::physics::ODEPhysics::CreateJoint ( const std::string &  type,
ModelPtr  _parent 
)
virtual

Create a new joint.

Implements gazebo::physics::PhysicsEngine.

virtual LinkPtr gazebo::physics::ODEPhysics::CreateLink ( ModelPtr  _parent)
virtual

Create a new body.

Implements gazebo::physics::PhysicsEngine.

virtual ShapePtr gazebo::physics::ODEPhysics::CreateShape ( const std::string &  _shapeType,
CollisionPtr  _collision 
)
virtual

Create a collision physics::Shape object given its type.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::DebugPrint ( ) const
virtual

Debug print out of the physic engine state.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::Fini ( )
virtual

Finilize the ODE engine.

Reimplemented from gazebo::physics::PhysicsEngine.

double gazebo::physics::ODEPhysics::GetContactMaxCorrectingVel ( )
virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

double gazebo::physics::ODEPhysics::GetContactSurfaceLayer ( )
virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

math::Vector3 gazebo::physics::ODEPhysics::GetGravity ( ) const

Get gravity vector.

int gazebo::physics::ODEPhysics::GetMaxContacts ( )
virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

int gazebo::physics::ODEPhysics::GetSORPGSIters ( )
virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

int gazebo::physics::ODEPhysics::GetSORPGSPreconIters ( )
virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

double gazebo::physics::ODEPhysics::GetSORPGSW ( )
virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

dSpaceID gazebo::physics::ODEPhysics::GetSpaceId ( ) const

Return the space id.

virtual double gazebo::physics::ODEPhysics::GetStepTime ( )
virtual

Get the simulation step time.

Implements gazebo::physics::PhysicsEngine.

virtual std::string gazebo::physics::ODEPhysics::GetStepType ( ) const
virtual

Get the step type.

double gazebo::physics::ODEPhysics::GetWorldCFM ( )
virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

double gazebo::physics::ODEPhysics::GetWorldERP ( )
virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

dWorldID gazebo::physics::ODEPhysics::GetWorldId ( )

Get the world id.

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

Initialize the ODE engine.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::InitForThread ( )
virtual

Init the engine for threads.

Implements gazebo::physics::PhysicsEngine.

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

Load the ODE engine.

Reimplemented from gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::OnPhysicsMsg ( ConstPhysicsPtr &  )
protectedvirtual

act on a msgs::Physics message request

Reimplemented from gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::OnRequest ( ConstRequestPtr &  )
protectedvirtual

act on a msgs::Request for physics

Reimplemented from gazebo::physics::PhysicsEngine.

void gazebo::physics::ODEPhysics::ProcessContactFeedback ( ContactFeedback feedback,
msgs::Contact *  _msg 
)

process contact feedbacks into physics::ContactFeedback

void gazebo::physics::ODEPhysics::Reset ( )
virtual

Empties dynamically created contact joints.

Reimplemented from gazebo::physics::PhysicsEngine.

void gazebo::physics::ODEPhysics::SetContactMaxCorrectingVel ( double  vel)
virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

void gazebo::physics::ODEPhysics::SetContactSurfaceLayer ( double  layer_depth)
virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::SetGravity ( const gazebo::math::Vector3 gravity)
virtual

Set the gavity vector.

Implements gazebo::physics::PhysicsEngine.

void gazebo::physics::ODEPhysics::SetMaxContacts ( unsigned int  max_contacts)

access functions to set ODE parameters

void gazebo::physics::ODEPhysics::SetSORPGSIters ( unsigned int  iters)
virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

void gazebo::physics::ODEPhysics::SetSORPGSPreconIters ( unsigned int  iters)
virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

void gazebo::physics::ODEPhysics::SetSORPGSW ( double  w)
virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

void gazebo::physics::ODEPhysics::SetStepTime ( double  _value)
virtual

Set the step time.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::SetStepType ( const std::string &  _type)
virtual

Set the step type.

void gazebo::physics::ODEPhysics::SetWorldCFM ( double  cfm)
virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

void gazebo::physics::ODEPhysics::SetWorldERP ( double  erp)
virtual

access functions to set ODE parameters

Reimplemented from gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::UpdateCollision ( )
virtual

Update the ODE collision.

Implements gazebo::physics::PhysicsEngine.

virtual void gazebo::physics::ODEPhysics::UpdatePhysics ( )
virtual

Update the ODE engine.

Reimplemented from gazebo::physics::PhysicsEngine.


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