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gazebo::physics::TrimeshShape Class Reference

Triangle mesh collision shape. More...

#include <physics/physics.hh>

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

 TrimeshShape (CollisionPtr _parent)
 Constructor.
 
virtual ~TrimeshShape ()
 Destructor.
 
void FillMsg (msgs::Geometry &_msg)
 Populate a msgs::Geometry message with data from this shape.
 
std::string GetFilename () const
 Get the filename of the mesh data.
 
virtual math::Vector3 GetSize () const
 Get the size of the triangle mesh.
 
virtual void Init ()
 Initialize the shape.
 
virtual void ProcessMsg (const msgs::Geometry &_msg)
 Update this shape from a message.
 
void SetFilename (const std::string &_filename)
 Set the filename of the triangle mesh.
 
void SetScale (const math::Vector3 &_scale)
 Set the scaling factor.
 
virtual void Update ()
 Update the tri mesh.
 
- Public Member Functions inherited from gazebo::physics::Shape
 Shape (CollisionPtr _parent)
 Constructor.
 
virtual ~Shape ()
 Destructor.
 
- 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
 This is an internal function.
 
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

const common::Meshmesh
 Pointer to the mesh data.
 
- Protected Attributes inherited from gazebo::physics::Shape
CollisionPtr collisionParent
 This shape's collision parent.
 
- Protected Attributes inherited from gazebo::physics::Base
Base_V children
 Children of this entity.
 
Base_V::iterator childrenEnd
 End of the children vector.
 
BasePtr parent
 Parent of this entity.
 
sdf::ElementPtr sdf
 The SDF values for this object.
 
WorldPtr world
 Pointer to the world.
 

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...
 

Detailed Description

Triangle mesh collision shape.

Constructor & Destructor Documentation

gazebo::physics::TrimeshShape::TrimeshShape ( CollisionPtr  _parent)
explicit

Constructor.

Parameters
[in]_parentParent collision.
virtual gazebo::physics::TrimeshShape::~TrimeshShape ( )
virtual

Destructor.

Member Function Documentation

void gazebo::physics::TrimeshShape::FillMsg ( msgs::Geometry &  _msg)
virtual

Populate a msgs::Geometry message with data from this shape.

Parameters
[out]_msgMessage to fill.

Implements gazebo::physics::Shape.

std::string gazebo::physics::TrimeshShape::GetFilename ( ) const

Get the filename of the mesh data.

Returns
The filename of the mesh data.
virtual math::Vector3 gazebo::physics::TrimeshShape::GetSize ( ) const
virtual

Get the size of the triangle mesh.

Returns
The size of the triangle mesh.
virtual void gazebo::physics::TrimeshShape::Init ( )
virtual

Initialize the shape.

Implements gazebo::physics::Shape.

virtual void gazebo::physics::TrimeshShape::ProcessMsg ( const msgs::Geometry &  _msg)
virtual

Update this shape from a message.

Parameters
[in]_msgMessage that contains triangle mesh info.

Implements gazebo::physics::Shape.

void gazebo::physics::TrimeshShape::SetFilename ( const std::string &  _filename)

Set the filename of the triangle mesh.

Parameters
[in]_filenameFilename of the mesh file to load from.
void gazebo::physics::TrimeshShape::SetScale ( const math::Vector3 _scale)

Set the scaling factor.

Parameters
[in]_scaleScaling factor.
virtual void gazebo::physics::TrimeshShape::Update ( )
inlinevirtual

Update the tri mesh.

Reimplemented from gazebo::physics::Base.

Member Data Documentation

const common::Mesh* gazebo::physics::TrimeshShape::mesh
protected

Pointer to the mesh data.


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