Store state information of a physics::World object. More...

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::WorldState:

Public Member Functions
	WorldState ()
	Default constructor.

	WorldState (const WorldPtr _world)
	Constructor.

	WorldState (const sdf::ElementPtr _sdf)
	Constructor.

virtual	~WorldState ()
	Destructor.

void	FillSDF (sdf::ElementPtr _sdf)
	Populate a state SDF element with data from the object.

ModelState	GetModelState (unsigned int _index) const
	Get a model state.

ModelState	GetModelState (const std::string &_modelName) const
	Get a model state by model name.

unsigned int	GetModelStateCount () const
	Get the number of model states.

const std::vector< ModelState > &	GetModelStates () const
	Get the model states.

bool	HasModelState (const std::string &_modelName) const
	Return true if WorldState has a ModelState with the given name.

bool	IsZero () const
	Return true if the values in the state are zero.

virtual void	Load (const sdf::ElementPtr _elem)
	Load state from SDF element.

WorldState	operator+ (const WorldState &_state) const
	Addition operator.

WorldState	operator- (const WorldState &_state) const
	Subtraction operator.

WorldState &	operator= (const WorldState &_state)
	Assignment operator.

void	SetWorld (const WorldPtr _world)
	Set the world.

Public Member Functions inherited from gazebo::physics::State
	State ()
	Default constructor.

	State (const std::string &_name, const common::Time &_realTime, const common::Time &_simTime)
	Constructor.

virtual	~State ()
	Destructor.

std::string	GetName () const
	Get the name associated with this State.

common::Time	GetRealTime () const
	Get the real time when this state was generated.

common::Time	GetSimTime () const
	Get the sim time when this state was generated.

common::Time	GetWallTime () const
	Get the wall time when this state was generated.

State	operator- (const State &_state) const
	Subtraction operator.

State &	operator= (const State &_state)
	Assignment operator.

void	SetName (const std::string &_name)
	Set the name associated with this State.

Friends
std::ostream &	operator<< (std::ostream &_out, const gazebo::physics::WorldState &_state)
	Stream insertion operator.

Additional Inherited Members
Protected Attributes inherited from gazebo::physics::State
std::string	name
	Name associated with this State.

common::Time	realTime

common::Time	simTime

common::Time	wallTime
	Times for the state data.

Detailed Description

Store state information of a physics::World object.

Instances of this class contain the state of a World at a specific time. World state includes the state of all models, and their children.

Constructor & Destructor Documentation

gazebo::physics::WorldState::WorldState ( )

Default constructor.

gazebo::physics::WorldState::WorldState ( const WorldPtr _world )

explicit

Constructor.

Generate a WorldState from an instance of a World.

Parameters

[in] _world Pointer to a world

gazebo::physics::WorldState::WorldState ( const sdf::ElementPtr _sdf )

explicit

Constructor.

Build a WorldState from SDF data

Parameters

[in] _sdf SDF data to load a world state from.

virtual gazebo::physics::WorldState::~WorldState ( )

virtual

Destructor.

Member Function Documentation

void gazebo::physics::WorldState::FillSDF ( sdf::ElementPtr _sdf )

Populate a state SDF element with data from the object.

Parameters

[out] _sdf SDF element to populate.

ModelState gazebo::physics::WorldState::GetModelState ( unsigned int _index ) const

Get a model state.

Get the state of a Model based on an index. The min index is and the max is WorldState::GetModelStateCount().

Parameters

[in] _index Index of the model.

Returns: State of the requested Model.

ModelState gazebo::physics::WorldState::GetModelState ( const std::string & _modelName ) const

Get a model state by model name.

Parameters

[in] _modelName Name of the model state to get.

Returns: The model state.

Exceptions

common::Exception When the _modelName doesn't exist.

unsigned int gazebo::physics::WorldState::GetModelStateCount ( ) const

Get the number of model states.

Returns the number of models in this instance.

Returns: Number of models.

const std::vector<ModelState>& gazebo::physics::WorldState::GetModelStates ( ) const

Get the model states.

Returns: A vector of model states.

bool gazebo::physics::WorldState::HasModelState ( const std::string & _modelName ) const

Return true if WorldState has a ModelState with the given name.

Parameters

[in] _modelName Name of the model to search for.

Returns: True if the ModelState exists.

bool gazebo::physics::WorldState::IsZero ( ) const

Return true if the values in the state are zero.

This will check to see if the all model states are zero.

Returns: True if the values in the state are zero.

virtual void gazebo::physics::WorldState::Load ( const sdf::ElementPtr _elem )

virtual

Load state from SDF element.

Set a WorldState from an SDF element containing WorldState info.

Parameters

[in] _elem Pointer to the WorldState SDF element.

Reimplemented from gazebo::physics::State.

WorldState gazebo::physics::WorldState::operator+ ( const WorldState & _state ) const

Addition operator.

Parameters

[in] _pt A state to add.

Returns: The resulting state.

WorldState gazebo::physics::WorldState::operator- ( const WorldState & _state ) const

Subtraction operator.

Parameters

[in] _pt A state to substract.

Returns: The resulting state.

WorldState& gazebo::physics::WorldState::operator= ( const WorldState & _state )

Assignment operator.

Parameters

[in] _state State value

Returns: Reference to this

void gazebo::physics::WorldState::SetWorld ( const WorldPtr _world )

Set the world.

Parameters

[in] _world Pointer to the world.

Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	_out,
		const gazebo::physics::WorldState &	_state
	)

friend

Stream insertion operator.

Parameters

[in]	_out	output stream
[in]	_state	World state to output

Returns: the stream

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

WorldState.hh

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation