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

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::LinkState:

Public Member Functions
	LinkState ()
	Default constructor.
	LinkState (const LinkPtr _link, const common::Time &_realTime, const common::Time &_simTime)
	Constructor.
	LinkState (const LinkPtr _link)
	Constructor.
	LinkState (const sdf::ElementPtr _sdf)
	Constructor.
virtual	~LinkState ()
	Destructor.
void	FillSDF (sdf::ElementPtr _sdf)
	Populate a state SDF element with data from the object.
const math::Pose &	GetAcceleration () const
	Get the link acceleration.
CollisionState	GetCollisionState (unsigned int _index) const
	Get a collision state.
CollisionState	GetCollisionState (const std::string &_collisionName) const
	Get a link state by link name.
unsigned int	GetCollisionStateCount () const
	Get the number of link states.
const std::vector < CollisionState > &	GetCollisionStates () const
	Get the collision states.
const math::Pose &	GetPose () const
	Get the link pose.
const math::Pose &	GetVelocity () const
	Get the link velocity.
const math::Pose &	GetWrench () const
	Get the force applied to the Link.
bool	IsZero () const
	Return true if the values in the state are zero.
void	Load (const LinkPtr _link, const common::Time &_realTime, const common::Time &_simTime)
	Load a LinkState from a Link pointer.
virtual void	Load (const sdf::ElementPtr _elem)
	Load state from SDF element.
LinkState	operator+ (const LinkState &_state) const
	Addition operator.
LinkState	operator- (const LinkState &_state) const
	Subtraction operator.
LinkState &	operator= (const LinkState &_state)
	Assignment operator.
virtual void	SetRealTime (const common::Time &_time)
	Set the real time when this state was generated.
virtual void	SetSimTime (const common::Time &_time)
	Set the sim time when this state was generated.
virtual void	SetWallTime (const common::Time &_time)
	Set the wall time when this state was generated.
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::LinkState &_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::Link object.

This class captures the entire state of a Link at one specific time during a simulation run.

State of a Link includes the state of itself all its child Collision entities.

Constructor & Destructor Documentation

gazebo::physics::LinkState::LinkState ( )

Default constructor.

gazebo::physics::LinkState::LinkState	(	const LinkPtr	_link,
		const common::Time &	_realTime,
		const common::Time &	_simTime
	)

Constructor.

Build a LinkState from an existing Link.

Parameters

[in]	_model	Pointer to the Link from which to gather state info.
[in]	_realTime	Real time stamp.
[in]	_simTime	Sim time stamp

gazebo::physics::LinkState::LinkState ( const LinkPtr _link )

explicit

Constructor.

Build a LinkState from an existing Link.

Parameters

[in] _model Pointer to the Link from which to gather state info.

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

explicit

Constructor.

Build a LinkState from SDF data

Parameters

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

virtual gazebo::physics::LinkState::~LinkState ( )

virtual

Destructor.

Member Function Documentation

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

Populate a state SDF element with data from the object.

Parameters

[out] _sdf SDF element to populate.

const math::Pose& gazebo::physics::LinkState::GetAcceleration ( ) const

Get the link acceleration.

Returns: The acceleration represented as a math::Pose.

CollisionState gazebo::physics::LinkState::GetCollisionState ( unsigned int _index ) const

Get a collision state.

Get a Collision State based on an index, where index is in the range of 0...LinkState::GetCollisionStateCount.

Parameters

[in] _index Index of the CollisionState.

Returns: State of the Collision.

Exceptions

common::Exception When _index is invalid.

CollisionState gazebo::physics::LinkState::GetCollisionState ( const std::string & _collisionName ) const

Get a link state by link name.

Searches through all CollisionStates. Returns the CollisionState with the matching name, if any.

Parameters

[in] _collisionName Name of the CollisionState

Returns: State of the Collision.

Exceptions

common::Exception When _collisionName is invalid

unsigned int gazebo::physics::LinkState::GetCollisionStateCount ( ) const

Get the number of link states.

This returns the number of Collisions recorded.

Returns: Number of CollisionState recorded.

const std::vector<CollisionState>& gazebo::physics::LinkState::GetCollisionStates ( ) const

Get the collision states.

Returns: A vector of collision states.

const math::Pose& gazebo::physics::LinkState::GetPose ( ) const

Get the link pose.

Returns: The math::Pose of the Link.

const math::Pose& gazebo::physics::LinkState::GetVelocity ( ) const

Get the link velocity.

Returns: The velocity represented as a math::Pose.

const math::Pose& gazebo::physics::LinkState::GetWrench ( ) const

Get the force applied to the Link.

Returns: Magnitude of the force.

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

Return true if the values in the state are zero.

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

void gazebo::physics::LinkState::Load	(	const LinkPtr	_link,
		const common::Time &	_realTime,
		const common::Time &	_simTime
	)

Load a LinkState from a Link pointer.

Build a LinkState from an existing Link.

Parameters

[in]	_model	Pointer to the Link from which to gather state info.
[in]	_realTime	Real time stamp.
[in]	_simTime	Sim time stamp

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

virtual

Load state from SDF element.

Load LinkState information from stored data in and SDF::Element.

Parameters

[in] _elem Pointer to the SDF::Element containing state info.

Reimplemented from gazebo::physics::State.

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

Addition operator.

Parameters

[in] _pt A state to add.

Returns: The resulting state.

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

Subtraction operator.

Parameters

[in] _pt A state to substract.

Returns: The resulting state.

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

Assignment operator.

Parameters

[in] _state State value

Returns: this

virtual void gazebo::physics::LinkState::SetRealTime ( const common::Time & _time )

virtual

Set the real time when this state was generated.

Parameters

[in] _time Clock time since simulation was stated.

Reimplemented from gazebo::physics::State.

virtual void gazebo::physics::LinkState::SetSimTime ( const common::Time & _time )

virtual

Set the sim time when this state was generated.

Parameters

[in] _time Simulation time when the data was recorded.

Reimplemented from gazebo::physics::State.

virtual void gazebo::physics::LinkState::SetWallTime ( const common::Time & _time )

virtual

Set the wall time when this state was generated.

Parameters

[in] _time The absolute clock time when the State data was recorded.

Reimplemented from gazebo::physics::State.

Friends And Related Function Documentation

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

friend

Stream insertion operator.

Parameters

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

Returns: the stream

Disabling this for efficiency.

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

LinkState.hh

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation