Files
file	CommonTypes.hh

Namespaces
namespace	gazebo::common
	Common namespace.

Classes
class	gazebo::common::Animation
	Manages an animation, which is a collection of keyframes and the ability to interpolate between the keyframes. More...

class	gazebo::common::AssertionInternalError
	Class for generating Exceptions which come from gazebo assertions. More...

class	gazebo::common::BVHLoader
	Handles loading BVH animation files. More...

class	gazebo::common::ColladaLoader
	Class used to load Collada mesh files. More...

class	gazebo::common::Color
	Defines a color. More...

class	gazebo::common::Console
	Message, error, warning functionality. More...

class	gazebo::common::Exception
	Class for generating exceptions. More...

class	gazebo::common::Image
	Encapsulates an image. More...

class	gazebo::common::InternalError
	Class for generating Internal Gazebo Errors: those errors which should never happend and represent programming bugs. More...

class	gazebo::common::KeyFrame
	A key frame in an animation. More...

class	gazebo::common::Material
	Encapsulates description of a material. More...

class	gazebo::common::Mesh
	A 3D mesh. More...

class	gazebo::common::MeshCSG
	Creates CSG meshes. More...

class	gazebo::common::MeshLoader
	Base class for loading meshes. More...

class	gazebo::common::MeshManager
	Maintains and manages all meshes. More...

class	gazebo::common::ModelDatabase
	Connects to model database, and has utility functions to find models. More...

class	gazebo::ModelPlugin
	A plugin with access to physics::Model. More...

class	gazebo::common::MouseEvent
	Generic description of a mouse event. More...

class	gazebo::common::NodeAnimation
	Node animation. More...

struct	gazebo::common::NodeAssignment
	Vertex to node weighted assignement for skeleton animation visualization. More...

class	gazebo::common::NodeTransform
	NodeTransform Skeleton.hh common/common.hh More...

class	gazebo::common::NumericAnimation
	A numeric animation. More...

class	gazebo::common::NumericKeyFrame
	A keyframe for a NumericAnimation. More...

class	gazebo::common::PID
	Generic PID controller class. More...

class	gazebo::PluginT< T >
	A class which all plugins must inherit from. More...

class	gazebo::common::PoseAnimation
	A pose animation. More...

class	gazebo::common::PoseKeyFrame
	A keyframe for a PoseAnimation. More...

class	gazebo::SensorPlugin
	A plugin with access to physics::Sensor. More...

class	SingletonT< T >
	Singleton template class. More...

class	gazebo::common::Skeleton
	A skeleton. More...

class	gazebo::common::SkeletonAnimation
	Skeleton animation. More...

class	gazebo::common::SkeletonNode
	A skeleton node. More...

class	gazebo::common::STLLoader
	Class used to load STL mesh files. More...

class	gazebo::common::SubMesh
	A child mesh. More...

class	gazebo::common::SystemPaths
	Functions to handle getting system paths, keeps track of: More...

class	gazebo::SystemPlugin
	A plugin loaded within the gzserver on startup. More...

class	gazebo::common::Time
	A Time class, can be used to hold wall- or sim-time. More...

class	gazebo::common::Timer
	A timer class, used to time things in real world walltime. More...

class	gazebo::common::Video
	Handle video encoding and decoding using libavcodec. More...

class	gazebo::VisualPlugin
	A plugin loaded within the gzserver on startup. More...

class	gazebo::WorldPlugin
	A plugin with access to physics::World. More...

Macros
#define	gzclr_end "\033[0m"
	End marker.

#define	gzclr_start(clr) "\033[1;33m"
	Start marker.

#define	gzdbg (gazebo::common::Console::Instance()->ColorMsg("Dbg", 36))
	Output a debug message.

#define	gzerr
	Output an error message.

#define	gzlog (gazebo::common::Console::Instance()->Log())
	Output a message to a log file.

#define	gzmsg (gazebo::common::Console::Instance()->ColorMsg("Msg", 32))
	Output a message.

#define	gzthrow(msg)
	This macro logs an error to the throw stream and throws an exception that contains the file name and line number.

#define	gzwarn
	Output a warning message.

Enumerations
enum	gazebo::PluginType { gazebo::WORLD_PLUGIN, gazebo::MODEL_PLUGIN, gazebo::SENSOR_PLUGIN, gazebo::SYSTEM_PLUGIN, gazebo::VISUAL_PLUGIN }
	Used to specify the type of plugin. More...

Functions
	gazebo::common::Console::NullStream::NullStream ()
	constructor

void	gazebo::common::add_search_path_suffix (const std::string &_suffix)
	add path prefix to common::SystemPaths

std::ostream &	gazebo::common::Console::ColorErr (const std::string &_lbl, const std::string &_file, unsigned int _line, int _color)
	Use this to output an error to the terminal.

std::ostream &	gazebo::common::Console::ColorMsg (const std::string &_lbl, int _color)
	Use this to output a colored message to the terminal.

void	gazebo::common::ModelDatabase::DownloadDependencies (const std::string &_path)
	Download all dependencies for a give model path.

std::string	gazebo::common::find_file (const std::string &_file, bool _searchLocalPath=true)
	search for file in common::SystemPaths

std::string	gazebo::common::find_file_path (const std::string &_file)
	search for a file in common::SystemPaths

std::string	gazebo::common::ModelDatabase::GetDBConfig (const std::string &_uri)
	Return the database.config file as a string.

std::string	gazebo::common::ModelDatabase::GetManifest (const std::string &_uri) GAZEBO_DEPRECATED
	Deprecated.

std::string	gazebo::common::ModelDatabase::GetModelConfig (const std::string &_uri)
	Return the model.config file as a string.

std::string	gazebo::common::ModelDatabase::GetModelFile (const std::string &_uri)
	Get a model's SDF file based on a URI.

std::string	gazebo::common::ModelDatabase::GetModelName (const std::string &_uri)
	Get the name of a model based on a URI.

std::string	gazebo::common::ModelDatabase::GetModelPath (const std::string &_uri, bool _forceDownload=false)
	Get the local path to a model.

std::map< std::string, std::string >	gazebo::common::ModelDatabase::GetModels ()
	Returns the dictionary of all the model names.

void	gazebo::common::ModelDatabase::GetModels (boost::function< void(const std::map< std::string, std::string > &)> _func)
	Get the dictionary of all model names via a callback.

std::string	gazebo::common::ModelDatabase::GetURI ()
	Returns the the global model database URI.

bool	gazebo::common::ModelDatabase::HasModel (const std::string &_modelName)
	Returns true if the model exists on the database.

void	gazebo::common::Console::Init (const std::string &_logFilename)
	Load the message parameters.

std::ofstream &	gazebo::common::Console::Log ()
	Use this to output a colored message to the terminal.

void	gazebo::common::Console::SetQuiet (bool _q)
	Set quiet output.

Variables
static std::string	gazebo::common::PixelFormatNames []
	String names for the pixel formats.

Detailed Description

Macro Definition Documentation

#define gzclr_end "\033[0m"

End marker.

#define gzclr_start ( clr ) "\033[1;33m"

Start marker.

#define gzdbg (gazebo::common::Console::Instance()->ColorMsg("Dbg", 36))

Output a debug message.

#define gzerr

Value:

(gazebo::common::Console::Instance()->ColorErr("Error", \

__FILE__, __LINE__, 31))

Output an error message.

Referenced by gazebo::transport::Connection::AsyncRead(), gazebo::event::Events::ConnectWorldUpdateStart(), gazebo::PluginT< ModelPlugin >::Create(), gazebo::physics::ScrewJoint< T >::Load(), sdf::ParamT< std::string >::Set(), and sdf::ParamT< std::string >::Update().

#define gzlog (gazebo::common::Console::Instance()->Log())

Output a message to a log file.

#define gzmsg (gazebo::common::Console::Instance()->ColorMsg("Msg", 32))

Output a message.

Referenced by sdf::ParamT< std::string >::Set().

#define gzthrow ( msg )

Value:

{std::ostringstream throwStream;\
      throwStream << msg << std::endl << std::flush;\
      throw gazebo::common::Exception(__FILE__, __LINE__, throwStream.str()); }

This macro logs an error to the throw stream and throws an exception that contains the file name and line number.

Referenced by gazebo::transport::TopicManager::Advertise(), gazebo::PluginT< ModelPlugin >::Create(), gazebo::transport::CallbackHelperT< M >::GetMsgType(), and gazebo::transport::SubscribeOptions::Init().

#define gzwarn

Value:

(gazebo::common::Console::Instance()->ColorErr("Warning", \

__FILE__, __LINE__, 33))

Output a warning message.

Referenced by gazebo::physics::Joint::GetLowerLimit(), and gazebo::physics::Joint::GetUpperLimit().

Enumeration Type Documentation

enum gazebo::PluginType

Used to specify the type of plugin.

Enumerator:

WORLD_PLUGIN	A World plugin.
MODEL_PLUGIN	A Model plugin.
SENSOR_PLUGIN	A Sensor plugin.
SYSTEM_PLUGIN	A System plugin.
VISUAL_PLUGIN	A Visual plugin.

Function Documentation

gazebo::common::Console::NullStream::NullStream ( )

inline

constructor

void gazebo::common::add_search_path_suffix ( const std::string & _suffix )

add path prefix to common::SystemPaths

std::ostream& gazebo::common::Console::ColorErr	(	const std::string &	_lbl,
		const std::string &	_file,
		unsigned int	_line,
		int	_color
	)

Use this to output an error to the terminal.

Parameters

[in]	_lbl	Text label
[in]	_file	File containing the error
[in]	_line	Line containing the error
[in]	_color	Color to make the label

Returns: Reference to an output stream

std::ostream& gazebo::common::Console::ColorMsg	(	const std::string &	_lbl,
		int	_color
	)

Use this to output a colored message to the terminal.

Parameters

[in]	_lbl	Text label
[in]	_color	Color to make the label

Returns: Reference to an output stream

void gazebo::common::ModelDatabase::DownloadDependencies ( const std::string & _path )

Download all dependencies for a give model path.

Look's in the model's manifest file (_path/model.config) for all models listed in the <depend> block, and downloads the models if necessary.

Parameters

[in] _path Path to a model.

std::string gazebo::common::find_file	(	const std::string &	_file,
		bool	_searchLocalPath = `true`
	)

search for file in common::SystemPaths

Parameters

[in]	_file	Name of the file to find.
[in]	_searchLocalPath	True to search in the current working directory.

std::string gazebo::common::find_file_path ( const std::string & _file )

search for a file in common::SystemPaths

Parameters

[in] _file the file name to look for

Returns: The path containing the file

std::string gazebo::common::ModelDatabase::GetDBConfig ( const std::string & _uri )

Return the database.config file as a string.

Returns: The database config file from the model database.

std::string gazebo::common::ModelDatabase::GetManifest ( const std::string & _uri )

Deprecated.

See Also: ModelDatabase::GetModelConfig; ModelDatabase::GetDBConfig

std::string gazebo::common::ModelDatabase::GetModelConfig ( const std::string & _uri )

Return the model.config file as a string.

Returns: The model config file from the model database.

std::string gazebo::common::ModelDatabase::GetModelFile ( const std::string & _uri )

Get a model's SDF file based on a URI.

Get a model file based on a URI. If the model is on a remote server, then the model fetched and installed locally.

Parameters

[in] _uri The URI of the model

Returns: The full path and filename to the SDF file

std::string gazebo::common::ModelDatabase::GetModelName ( const std::string & _uri )

Get the name of a model based on a URI.

The URI must be fully qualified: http://gazebosim.org/gazebo_models/ground_plane or model://gazebo_models

Parameters

[in] _uri the model uri

Returns: the model's name.

std::string gazebo::common::ModelDatabase::GetModelPath	(	const std::string &	_uri,
		bool	_forceDownload = `false`
	)

Get the local path to a model.

Get the path to a model based on a URI. If the model is on a remote server, then the model fetched and installed locally.

Parameters

[in]	_uri	the model uri
[in]	_forceDownload	True to skip searching local paths.

Returns: path to a model directory

std::map<std::string, std::string> gazebo::common::ModelDatabase::GetModels ( )

Returns the dictionary of all the model names.

This is a blocking call. Which means it will wait for the ModelDatabase to download the model list.

Returns: a map of model names, indexed by their full URI.

void gazebo::common::ModelDatabase::GetModels ( boost::function< void(const std::map< std::string, std::string > &)> _func )

Get the dictionary of all model names via a callback.

This is the non-blocking version of ModelDatabase::GetModels

Parameters

[in] _func Callback function that receives the list of models.

std::string gazebo::common::ModelDatabase::GetURI ( )

Returns the the global model database URI.

Returns: the URI.

bool gazebo::common::ModelDatabase::HasModel ( const std::string & _modelName )

Returns true if the model exists on the database.

Parameters

[in] _modelName URI of the model (eg: model://my_model_name).

Returns: True if the model was found.

void gazebo::common::Console::Init ( const std::string & _logFilename )

Load the message parameters.

std::ofstream& gazebo::common::Console::Log ( )

Use this to output a colored message to the terminal.

Parameters

[in] _lbl Text label

Returns: Reference to an output stream

void gazebo::common::Console::SetQuiet ( bool _q )

Set quiet output.

Parameters

[in] q True to prevent warning

Variable Documentation

std::string gazebo::common::PixelFormatNames[]

static

Initial value:

=
    {
      "UNKNOWN_PIXEL_FORMAT",
      "L_INT8",
      "L_INT16",
      "RGB_INT8",
      "RGBA_INT8",
      "BGRA_INT8",
      "RGB_INT16",
      "RGB_INT32",
      "BGR_INT8",
      "BGR_INT16",
      "BGR_INT32",
      "R_FLOAT16",
      "RGB_FLOAT16",
      "R_FLOAT32",
      "RGB_FLOAT32",
      "BAYER_RGGB8",
      "BAYER_RGGR8",
      "BAYER_GBRG8",
      "BAYER_GRBG8"
    }

String names for the pixel formats.

See Also: Image::PixelFormat.

Files

Namespaces

Classes

Macros

Enumerations

Functions

Variables

Detailed Description

Macro Definition Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation