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

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::ModelState:

Public Member Functions
	ModelState ()
	Default constructor.
	ModelState (const ModelPtr _model, const common::Time &_realTime, const common::Time &_simTime)
	Constructor.
	ModelState (const ModelPtr _model)
	Constructor.
	ModelState (const sdf::ElementPtr _sdf)
	Constructor.
virtual	~ModelState ()
	Destructor.
void	FillSDF (sdf::ElementPtr _sdf)
	Populate a state SDF element with data from the object.
JointState	GetJointState (unsigned int _index) const
	Get a Joint state.
JointState	GetJointState (const std::string &_jointName) const
	Get a Joint state by Joint name.
unsigned int	GetJointStateCount () const
	Get the number of joint states.
JointState_M	GetJointStates (const boost::regex &_regex) const
	Get joint states based on a regular expression.
const JointState_M &	GetJointStates () const
	Get the joint states.
LinkState	GetLinkState (unsigned int _index) const GAZEBO_DEPRECATED(1.7)
	Get a link state.
LinkState	GetLinkState (const std::string &_linkName) const
	Get a link state by Link name.
unsigned int	GetLinkStateCount () const
	Get the number of link states.
LinkState_M	GetLinkStates (const boost::regex &_regex) const
	Get link states based on a regular expression.
const LinkState_M &	GetLinkStates () const
	Get the link states.
const math::Pose &	GetPose () const
	Get the stored model pose.
bool	HasJointState (const std::string &_jointName) const
	Return true if there is a joint with the specified name.
bool	HasLinkState (const std::string &_linkName) const
	Return true if there is a link with the specified name.
bool	IsZero () const
	Return true if the values in the state are zero.
void	Load (const ModelPtr _model, const common::Time &_realTime, const common::Time &_simTime)
	Load state from Model pointer.
virtual void	Load (const sdf::ElementPtr _elem)
	Load state from SDF element.
ModelState	operator+ (const ModelState &_state) const
	Addition operator.
ModelState	operator- (const ModelState &_state) const
	Subtraction operator.
ModelState &	operator= (const ModelState &_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::ModelState &_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::Model object.

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

State of a Model includes the state of all its child Links and Joints.

Constructor & Destructor Documentation

gazebo::physics::ModelState::ModelState ( )

Default constructor.

gazebo::physics::ModelState::ModelState	(	const ModelPtr	_model,
		const common::Time &	_realTime,
		const common::Time &	_simTime
	)

Constructor.

Build a ModelState from an existing Model.

Parameters

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

gazebo::physics::ModelState::ModelState ( const ModelPtr _model )

explicit

Constructor.

Build a ModelState from an existing Model.

Parameters

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

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

explicit

Constructor.

Build a ModelState from SDF data

Parameters

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

virtual gazebo::physics::ModelState::~ModelState ( )

virtual

Destructor.

Member Function Documentation

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

Populate a state SDF element with data from the object.

Parameters

[out] _sdf SDF element to populate.

JointState gazebo::physics::ModelState::GetJointState ( unsigned int _index ) const

Get a Joint state.

Return a JointState based on a index, where index is between 0...ModelState::GetJointStateCount().

Parameters

[in] _index Index of a JointState.

Returns: State of a Joint.

Exceptions

common::Exception When _index is out of range.

JointState gazebo::physics::ModelState::GetJointState ( const std::string & _jointName ) const

Get a Joint state by Joint name.

Searches through all JointStates. Returns the JointState with the matching name, if any.

Parameters

[in] _jointName Name of the JointState.

Returns: State of the Joint.

Exceptions

common::Exception When _jointName is invalid.

unsigned int gazebo::physics::ModelState::GetJointStateCount ( ) const

Get the number of joint states.

Returns the number of JointStates recorded.

Returns: Number of JointStates.

JointState_M gazebo::physics::ModelState::GetJointStates ( const boost::regex & _regex ) const

Get joint states based on a regular expression.

Parameters

[in] _regex The regular expression.

Returns: List of joint states whose names match the regular expression.

const JointState_M& gazebo::physics::ModelState::GetJointStates ( ) const

Get the joint states.

Returns: A map of joint states.

LinkState gazebo::physics::ModelState::GetLinkState ( unsigned int _index ) const

Get a link state.

Get a Link State based on an index, where index is in the range of 0...ModelState::GetLinkStateCount

Parameters

[in] _index Index of the LinkState

Returns: State of the Link.

Exceptions

common::Exception When _index is out of range.

LinkState gazebo::physics::ModelState::GetLinkState ( const std::string & _linkName ) const

Get a link state by Link name.

Searches through all LinkStates. Returns the LinkState with the matching name, if any.

Parameters

[in] _linkName Name of the LinkState

Returns: State of the Link.

Exceptions

common::Exception When _linkName is invalid.

unsigned int gazebo::physics::ModelState::GetLinkStateCount ( ) const

Get the number of link states.

This returns the number of Links recorded.

Returns: Number of LinkState recorded.

LinkState_M gazebo::physics::ModelState::GetLinkStates ( const boost::regex & _regex ) const

Get link states based on a regular expression.

Parameters

[in] _regex The regular expression.

Returns: List of link states whose names match the regular expression.

const LinkState_M& gazebo::physics::ModelState::GetLinkStates ( ) const

Get the link states.

Returns: A map of link states.

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

Get the stored model pose.

Returns: The math::Pose of the Model.

bool gazebo::physics::ModelState::HasJointState ( const std::string & _jointName ) const

Return true if there is a joint with the specified name.

Parameters

[in] _jointName Name of the Jointtate.

Returns: True if the joint exists in the model.

bool gazebo::physics::ModelState::HasLinkState ( const std::string & _linkName ) const

Return true if there is a link with the specified name.

Parameters

[in] _linkName Name of the LinkState.

Returns: True if the link exists in the model.

bool gazebo::physics::ModelState::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::ModelState::Load	(	const ModelPtr	_model,
		const common::Time &	_realTime,
		const common::Time &	_simTime
	)

Load state from Model pointer.

Build a ModelState from an existing Model.

Parameters

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

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

virtual

Load state from SDF element.

Load ModelState information from stored data in and SDF::Element

Parameters

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

Reimplemented from gazebo::physics::State.

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

Addition operator.

Parameters

[in] _pt A state to substract.

Returns: The resulting state.

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

Subtraction operator.

Parameters

[in] _pt A state to substract.

Returns: The resulting state.

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

Assignment operator.

Parameters

[in] _state State value

Returns: this

virtual void gazebo::physics::ModelState::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::ModelState::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::ModelState::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::ModelState &	_state
	)

friend

Stream insertion operator.

Parameters

[in]	_out	output stream.
[in]	_state	Model state to output.

Returns: The stream.

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

ModelState.hh

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation