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gazebo::physics::ODERayShape Class Reference

Ray collision. More...

#include <ODERayShape.hh>

Inheritance diagram for gazebo::physics::ODERayShape:
Inheritance graph

Public Member Functions

 ODERayShape (PhysicsEnginePtr _physicsEngine)
 Constructor for a global ray.
 ODERayShape (CollisionPtr collision)
virtual ~ODERayShape ()
virtual void GetIntersection (double &_dist, std::string &_entity)
 Get the nearest intersection.
virtual 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 tay collision.
- Public Member Functions inherited from gazebo::physics::RayShape
 RayShape (PhysicsEnginePtr _physicsEngine)
 Constructor for a global ray.
 RayShape (CollisionPtr parent)
virtual ~RayShape ()
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)
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.

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.

Detailed Description

Ray collision.

Constructor & Destructor Documentation

gazebo::physics::ODERayShape::ODERayShape ( PhysicsEnginePtr  _physicsEngine)

Constructor for a global ray.

gazebo::physics::ODERayShape::ODERayShape ( CollisionPtr  collision)


bodyLink the ray is attached to
virtual gazebo::physics::ODERayShape::~ODERayShape ( )


Member Function Documentation

virtual void gazebo::physics::ODERayShape::GetIntersection ( double &  _dist,
std::string &  _entity 

Get the nearest intersection.

Implements gazebo::physics::RayShape.

virtual void gazebo::physics::ODERayShape::SetPoints ( const math::Vector3 posStart,
const math::Vector3 posEnd 

Set the ray based on starting and ending points relative to the body.

posStartStart position, relative the body
posEndEnd position, relative to the body

Reimplemented from gazebo::physics::RayShape.

virtual void gazebo::physics::ODERayShape::Update ( )

Update the tay collision.

Implements gazebo::physics::RayShape.

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