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Classes for physics and dynamics
Collaboration diagram for Classes for physics and dynamics:

Modules

 Bullet Physics
 bullet physics engine wrapper
 
 ODE Physics
 ODE physics engine wrapper.
 

Files

file  BulletTypes.hh
 Bullet wrapper forward declarations and typedefs.
 
file  ODETypes.hh
 ODE wrapper forward declarations and typedefs.
 
file  PhysicsTypes.hh
 default namespace for gazebo
 

Namespaces

namespace  gazebo::physics
 namespace for physics
 

Classes

class  gazebo::physics::Actor
 Actor class enables GPU based mesh model / skeleton scriptable animation. More...
 
class  gazebo::physics::BallJoint< T >
 Base class for a ball joint. More...
 
class  gazebo::physics::Base
 Base class for most physics classes. More...
 
class  gazebo::physics::BoxShape
 Box geometry primitive. More...
 
class  gazebo::physics::Collision
 Base class for all collision entities. More...
 
class  gazebo::physics::CollisionState
 Store state information of a physics::Collision object. More...
 
class  gazebo::physics::Contact
 A contact between two collisions. More...
 
class  gazebo::physics::CylinderShape
 Cylinder collision. More...
 
class  gazebo::physics::Entity
 Base class for all physics objects in Gazebo. More...
 
class  gazebo::physics::Gripper
 A gripper abstraction. More...
 
class  gazebo::physics::HeightmapShape
 HeightmapShape collision shape builds a heightmap from an image. More...
 
class  gazebo::physics::Hinge2Joint< T >
 A two axis hinge joint. More...
 
class  gazebo::physics::HingeJoint< T >
 A single axis hinge joint. More...
 
class  gazebo::physics::Inertial
 A class for inertial information about a link. More...
 
class  gazebo::physics::Joint
 Base class for all joints. More...
 
class  gazebo::physics::JointController
 A class for manipulating physics::Joint. More...
 
class  gazebo::physics::JointFeedback
 Feedback information from a joint. More...
 
class  gazebo::physics::JointState
 keeps track of state of a physics::Joint More...
 
class  gazebo::physics::Link
 Link class defines a rigid body entity, containing information on inertia, visual and collision properties of a rigid body. More...
 
class  gazebo::physics::LinkState
 Store state information of a physics::Link object. More...
 
class  gazebo::physics::Logger
 Handles logging of data to disk. More...
 
class  gazebo::physics::Logplay
 Open and playback log files that were recorded using Logger. More...
 
class  gazebo::physics::MapShape
 Creates box extrusions based on an image. More...
 
class  gazebo::physics::Model
 A model is a collection of links, joints, and plugins. More...
 
class  gazebo::physics::ModelState
 Store state information of a physics::Model object. More...
 
class  gazebo::physics::MultiRayShape
 Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner. More...
 
class  gazebo::physics::PhysicsEngine
 Base class for a physics engine. More...
 
class  gazebo::physics::PhysicsFactory
 The physics factory instantiates different physics engines. More...
 
class  gazebo::physics::PlaneShape
 Collision for an infinite plane. More...
 
class  gazebo::physics::RayShape
 Base class for Ray collision geometry. More...
 
class  gazebo::physics::Road
 for building a Road from SDF More...
 
class  gazebo::physics::ScrewJoint< T >
 A screw joint. More...
 
class  gazebo::physics::Shape
 Base class for all shapes. More...
 
class  gazebo::physics::SliderJoint< T >
 A slider joint. More...
 
class  gazebo::physics::SphereShape
 Sphere collision. More...
 
class  gazebo::physics::State
 State of an entity. More...
 
class  gazebo::physics::SurfaceParams
 SurfaceParams defines various Surface contact parameters. More...
 
class  gazebo::physics::TrimeshShape
 Triangle mesh collision shape. More...
 
class  gazebo::physics::UniversalJoint< T >
 A universal joint. More...
 
class  gazebo::physics::World
 The world provides access to all other object within a simulated environment. More...
 
class  gazebo::physics::WorldState
 Store state information of a physics::World object. More...
 

Macros

#define GZ_REGISTER_PHYSICS_ENGINE(name, classname)
 Static physics registration macro.
 

Typedefs

typedef PhysicsEnginePtr(* gazebo::physics::PhysicsFactoryFn )(WorldPtr world)
 

Functions

WorldPtr gazebo::physics::create_world (const std::string &_name="")
 Create a world given a name.
 
bool gazebo::physics::fini ()
 Finalize transport by calling gazebo::transport::fini.
 
WorldPtr gazebo::physics::get_world (const std::string &_name="")
 Returns a pointer to a world by name.
 
void gazebo::physics::init_world (WorldPtr _world)
 Init world given a pointer to it.
 
void gazebo::physics::init_worlds ()
 initialize multiple worlds stored in static variable gazebo::g_worlds
 
bool gazebo::physics::load ()
 Setup gazebo::SystemPlugin's and call gazebo::transport::init.
 
void gazebo::physics::load_world (WorldPtr _world, sdf::ElementPtr _sdf)
 Load world from sdf::Element pointer.
 
void gazebo::physics::load_worlds (sdf::ElementPtr _sdf)
 load multiple worlds from single sdf::Element pointer
 
void gazebo::physics::pause_world (WorldPtr _world, bool _pause)
 Pause world by calling World::SetPaused.
 
void gazebo::physics::pause_worlds (bool pause)
 pause multiple worlds stored in static variable gazebo::g_worlds
 
void gazebo::physics::remove_worlds ()
 remove multiple worlds stored in static variable gazebo::g_worlds
 
void gazebo::physics::run_world (WorldPtr _world)
 Run world by calling World::Run() given a pointer to it.
 
void gazebo::physics::run_worlds ()
 run multiple worlds stored in static variable gazebo::g_worlds
 
void gazebo::physics::stop_world (WorldPtr _world)
 Stop world by calling World::Stop() given a pointer to it.
 
void gazebo::physics::stop_worlds ()
 stop multiple worlds stored in static variable gazebo::g_worlds
 

Variables

static std::string gazebo::physics::EntityTypename []
 String names for the different entity types.
 

Detailed Description

Macro Definition Documentation

#define GZ_REGISTER_PHYSICS_ENGINE (   name,
  classname 
)
Value:
PhysicsEnginePtr New##classname(WorldPtr _world) \
{ \
return PhysicsEnginePtr(new gazebo::physics::classname(_world)); \
} \
void Register##classname() \
{\
PhysicsFactory::RegisterPhysicsEngine(name, New##classname);\
}

Static physics registration macro.

Use this macro to register physics engine with the server.

Parameters
[in]namePhysics type name, as it appears in the world file.
[in]classnameC++ class name for the physics engine.

Typedef Documentation

typedef PhysicsEnginePtr(* gazebo::physics::PhysicsFactoryFn)(WorldPtr world)

Function Documentation

WorldPtr gazebo::physics::create_world ( const std::string &  _name = "")

Create a world given a name.

Parameters
[in]_nameName of the world to create.
Returns
Pointer to the new world.
bool gazebo::physics::fini ( )

Finalize transport by calling gazebo::transport::fini.

WorldPtr gazebo::physics::get_world ( const std::string &  _name = "")

Returns a pointer to a world by name.

Parameters
[in]_nameName of the world to get.
Returns
Pointer to the world.
void gazebo::physics::init_world ( WorldPtr  _world)

Init world given a pointer to it.

Parameters
[in]_worldWorld to initialize.
void gazebo::physics::init_worlds ( )

initialize multiple worlds stored in static variable gazebo::g_worlds

bool gazebo::physics::load ( )
void gazebo::physics::load_world ( WorldPtr  _world,
sdf::ElementPtr  _sdf 
)

Load world from sdf::Element pointer.

Parameters
[in]_worldPointer to a world.
[in]_sdfSDF values to load from.
void gazebo::physics::load_worlds ( sdf::ElementPtr  _sdf)

load multiple worlds from single sdf::Element pointer

Parameters
[in]_sdfSDF values used to create worlds.
void gazebo::physics::pause_world ( WorldPtr  _world,
bool  _pause 
)

Pause world by calling World::SetPaused.

Parameters
[in]_worldWorld to pause or unpause.
[in]_pauseTrue to pause, False to unpause.
void gazebo::physics::pause_worlds ( bool  pause)

pause multiple worlds stored in static variable gazebo::g_worlds

Parameters
[in]_pauseTrue to pause, False to unpause.
void gazebo::physics::remove_worlds ( )

remove multiple worlds stored in static variable gazebo::g_worlds

void gazebo::physics::run_world ( WorldPtr  _world)

Run world by calling World::Run() given a pointer to it.

Parameters
[in]_worldWorld to run.
void gazebo::physics::run_worlds ( )

run multiple worlds stored in static variable gazebo::g_worlds

void gazebo::physics::stop_world ( WorldPtr  _world)

Stop world by calling World::Stop() given a pointer to it.

Parameters
[in]_worldWorld to stop.
void gazebo::physics::stop_worlds ( )

stop multiple worlds stored in static variable gazebo::g_worlds

Variable Documentation

std::string gazebo::physics::EntityTypename[]
static
Initial value:
= {
"common",
"entity",
"model",
"actor",
"link",
"collision",
"light",
"visual",
"joint",
"ball",
"hinge2",
"hinge",
"slider",
"universal",
"shape",
"box",
"cylinder",
"heightmap",
"map",
"multiray",
"ray",
"plane",
"sphere",
"trimesh"
}

String names for the different entity types.