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gazebo::physics::RayShape Class Referenceabstract

Base class for Ray collision geometry. More...

#include <RayShape.hh>

Inheritance diagram for gazebo::physics::RayShape:
Inheritance graph
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Public Member Functions

 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.
 
virtual void GetIntersection (double &_dist, std::string &_entity)=0
 Get the nearest intersection.
 
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.
 
virtual void SetPoints (const math::Vector3 &posStart, const math::Vector3 &posEnd)
 Set the ray based on starting and ending points relative to the body.
 
void SetRetro (float retro)
 Set the retro-reflectivness detected by this ray.
 
virtual void Update ()=0
 Update the ray collision.
 
- 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 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)
 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.
 

Protected Attributes

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.
 

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
 

Detailed Description

Base class for Ray collision geometry.

Constructor & Destructor Documentation

gazebo::physics::RayShape::RayShape ( PhysicsEnginePtr  _physicsEngine)

Constructor for a global ray.

gazebo::physics::RayShape::RayShape ( CollisionPtr  parent)

Constructor.

Parameters
bodyLink the ray is attached to
displayRaysIndicates if the rays should be displayed when rendering images
virtual gazebo::physics::RayShape::~RayShape ( )
virtual

Destructor.

Member Function Documentation

void gazebo::physics::RayShape::FillMsg ( msgs::Geometry &  )
inlinevirtual
int gazebo::physics::RayShape::GetFiducial ( ) const

Get the fiducial id detected by this ray.

virtual void gazebo::physics::RayShape::GetGlobalPoints ( math::Vector3 posA,
math::Vector3 posB 
)
virtual

Get the global starting and ending points.

Parameters
posAReturns the starting point
posBReturns the ending point
virtual void gazebo::physics::RayShape::GetIntersection ( double &  _dist,
std::string &  _entity 
)
pure virtual

Get the nearest intersection.

Implemented in gazebo::physics::ODERayShape, and gazebo::physics::BulletRayShape.

double gazebo::physics::RayShape::GetLength ( ) const

Get the length of the ray.

virtual void gazebo::physics::RayShape::GetRelativePoints ( math::Vector3 posA,
math::Vector3 posB 
)
virtual

Get the relative starting and ending points.

Parameters
posAReturns the starting point
posBReturns the ending point
float gazebo::physics::RayShape::GetRetro ( ) const

Get the retro-reflectivness detected by this ray.

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

In the ray.

Implements gazebo::physics::Shape.

virtual void gazebo::physics::RayShape::ProcessMsg ( const msgs::Geometry &  )
inlinevirtual
void gazebo::physics::RayShape::SetFiducial ( int  fid)

Set the fiducial id detected by this ray.

virtual void gazebo::physics::RayShape::SetLength ( double  len)
virtual

Set the length of the ray.

Parameters
lenLength of the array
virtual void gazebo::physics::RayShape::SetPoints ( const math::Vector3 posStart,
const math::Vector3 posEnd 
)
virtual

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

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

Reimplemented in gazebo::physics::ODERayShape, and gazebo::physics::BulletRayShape.

void gazebo::physics::RayShape::SetRetro ( float  retro)

Set the retro-reflectivness detected by this ray.

virtual void gazebo::physics::RayShape::Update ( )
pure virtual

Update the ray collision.

Reimplemented from gazebo::physics::Base.

Implemented in gazebo::physics::ODERayShape, and gazebo::physics::BulletRayShape.

Member Data Documentation

int gazebo::physics::RayShape::contactFiducial
protected
double gazebo::physics::RayShape::contactLen
protected

Contact information; this is filled out during collision detection.

double gazebo::physics::RayShape::contactRetro
protected
math::Vector3 gazebo::physics::RayShape::globalEndPos
protected
math::Vector3 gazebo::physics::RayShape::globalStartPos
protected

Start and end positions of the ray in global cs.

math::Vector3 gazebo::physics::RayShape::relativeEndPos
protected
math::Vector3 gazebo::physics::RayShape::relativeStartPos
protected

Start and end positions of the ray, relative to the body.


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