Files
file	PhysicsTypes.hh
	default namespace for gazebo

Namespaces
namespace	gazebo::physics
	namespace for physics

Classes
class	gazebo::physics::Actor
	Actor class enables GPU based mesh model / skeleton scriptable animation. More...
class	gazebo::physics::BallJoint< T >
	Base class for a ball joint. More...
class	gazebo::physics::Base
	Base class for most physics classes. More...
class	gazebo::physics::BoxShape
	Box geometry primitive. More...
class	gazebo::physics::Collision
	Base class for all collision entities. More...
class	gazebo::physics::CollisionState
	Store state information of a physics::Collision object. More...
class	gazebo::physics::Contact
	A contact between two collisions. More...
class	gazebo::physics::ContactManager
	Aggregates all the contact information generated by the collision detection engine. More...
class	gazebo::physics::CylinderShape
	Cylinder collision. More...
class	gazebo::physics::Entity
	Base class for all physics objects in Gazebo. More...
class	gazebo::physics::Gripper
	A gripper abstraction. More...
class	gazebo::physics::HeightmapShape
	HeightmapShape collision shape builds a heightmap from an image. More...
class	gazebo::physics::Hinge2Joint< T >
	A two axis hinge joint. More...
class	gazebo::physics::HingeJoint< T >
	A single axis hinge joint. More...
class	gazebo::physics::Inertial
	A class for inertial information about a link. More...
class	gazebo::physics::Joint
	Base class for all joints. More...
class	gazebo::physics::JointController
	A class for manipulating physics::Joint. More...
class	gazebo::physics::JointState
	keeps track of state of a physics::Joint More...
class	gazebo::physics::JointWrench
	Wrench information from a joint. More...
class	gazebo::physics::Link
	Link class defines a rigid body entity, containing information on inertia, visual and collision properties of a rigid body. More...
class	gazebo::physics::LinkState
	Store state information of a physics::Link object. More...
class	Logplay
	Open and playback log files that were recorded using LogRecord. More...
class	gazebo::util::LogPlay
class	gazebo::physics::MeshShape
	Triangle mesh collision shape. More...
class	gazebo::physics::Model
	A model is a collection of links, joints, and plugins. More...
class	gazebo::physics::ModelState
	Store state information of a physics::Model object. More...
class	gazebo::physics::MultiRayShape
	Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner. More...
class	gazebo::physics::PhysicsEngine
	Base class for a physics engine. More...
class	gazebo::physics::PhysicsFactory
	The physics factory instantiates different physics engines. More...
class	gazebo::physics::PlaneShape
	Collision for an infinite plane. More...
class	gazebo::physics::RayShape
	Base class for Ray collision geometry. More...
class	gazebo::physics::Road
	for building a Road from SDF More...
class	gazebo::physics::ScrewJoint< T >
	A screw joint, which has both prismatic and rotational DOFs. More...
class	gazebo::physics::Shape
	Base class for all shapes. More...
class	gazebo::physics::SliderJoint< T >
	A slider joint. More...
class	gazebo::physics::SphereShape
	Sphere collision shape. More...
class	gazebo::physics::State
	State of an entity. More...
class	gazebo::physics::SurfaceParams
	SurfaceParams defines various Surface contact parameters. More...
class	gazebo::physics::UniversalJoint< T >
	A universal joint. More...
class	gazebo::physics::World
	The world provides access to all other object within a simulated environment. More...
class	gazebo::physics::WorldState
	Store state information of a physics::World object. More...

Macros
#define	GZ_REGISTER_PHYSICS_ENGINE(name, classname)
	Static physics registration macro.

Typedefs
typedef PhysicsEnginePtr(*	gazebo::physics::PhysicsFactoryFn )(WorldPtr world)

Functions
WorldPtr	gazebo::physics::create_world (const std::string &_name="")
	Create a world given a name.
bool	gazebo::physics::fini ()
	Finalize transport by calling gazebo::transport::fini.
WorldPtr	gazebo::physics::get_world (const std::string &_name="")
	Returns a pointer to a world by name.
void	gazebo::physics::init_world (WorldPtr _world)
	Init world given a pointer to it.
void	gazebo::physics::init_worlds ()
	initialize multiple worlds stored in static variable gazebo::g_worlds
bool	gazebo::physics::load ()
	Setup gazebo::SystemPlugin's and call gazebo::transport::init.
void	gazebo::physics::load_world (WorldPtr _world, sdf::ElementPtr _sdf)
	Load world from sdf::Element pointer.
void	gazebo::physics::load_worlds (sdf::ElementPtr _sdf)
	load multiple worlds from single sdf::Element pointer
void	gazebo::physics::pause_world (WorldPtr _world, bool _pause)
	Pause world by calling World::SetPaused.
void	gazebo::physics::pause_worlds (bool pause)
	pause multiple worlds stored in static variable gazebo::g_worlds
void	gazebo::physics::remove_worlds ()
	remove multiple worlds stored in static variable gazebo::g_worlds
void	gazebo::physics::run_world (WorldPtr _world, unsigned int _iterations=0)
	Run world by calling World::Run() given a pointer to it.
void	gazebo::physics::run_worlds (unsigned int _iterations=0)
	Run multiple worlds stored in static variable gazebo::g_worlds.
void	gazebo::physics::stop_world (WorldPtr _world)
	Stop world by calling World::Stop() given a pointer to it.
void	gazebo::physics::stop_worlds ()
	stop multiple worlds stored in static variable gazebo::g_worlds
bool	gazebo::physics::worlds_running ()
	Return true if any world is running.

Variables
static std::string	gazebo::physics::EntityTypename []
	String names for the different entity types.

Detailed Description

Macro Definition Documentation

#define GZ_REGISTER_PHYSICS_ENGINE	(	name,
		classname
	)

Value:

PhysicsEnginePtr New##classname(WorldPtr _world) \
    { \
      return PhysicsEnginePtr(new gazebo::physics::classname(_world)); \
    } \
    void Register##classname() \
    {\
      PhysicsFactory::RegisterPhysicsEngine(name, New##classname);\
    }

Static physics registration macro.

Use this macro to register physics engine with the server.

Parameters

[in]	name	Physics type name, as it appears in the world file.
[in]	classname	C++ class name for the physics engine.

Typedef Documentation

typedef PhysicsEnginePtr(* gazebo::physics::PhysicsFactoryFn)(WorldPtr world)

Function Documentation

WorldPtr gazebo::physics::create_world ( const std::string & _name = "" )

Create a world given a name.

Parameters

[in] _name Name of the world to create.

Returns: Pointer to the new world.

bool gazebo::physics::fini ( )

Finalize transport by calling gazebo::transport::fini.

WorldPtr gazebo::physics::get_world ( const std::string & _name = "" )

Returns a pointer to a world by name.

Parameters

[in] _name Name of the world to get.

Returns: Pointer to the world.

Referenced by Joint_TEST::SpawnJoint().

void gazebo::physics::init_world ( WorldPtr _world )

Init world given a pointer to it.

Parameters

[in] _world World to initialize.

void gazebo::physics::init_worlds ( )

initialize multiple worlds stored in static variable gazebo::g_worlds

bool gazebo::physics::load ( )

Setup gazebo::SystemPlugin's and call gazebo::transport::init.

void gazebo::physics::load_world	(	WorldPtr	_world,
		sdf::ElementPtr	_sdf
	)

Load world from sdf::Element pointer.

Parameters

[in]	_world	Pointer to a world.
[in]	_sdf	SDF values to load from.

void gazebo::physics::load_worlds ( sdf::ElementPtr _sdf )

load multiple worlds from single sdf::Element pointer

Parameters

[in] _sdf SDF values used to create worlds.

void gazebo::physics::pause_world	(	WorldPtr	_world,
		bool	_pause
	)

Pause world by calling World::SetPaused.

Parameters

[in]	_world	World to pause or unpause.
[in]	_pause	True to pause, False to unpause.

void gazebo::physics::pause_worlds ( bool pause )

pause multiple worlds stored in static variable gazebo::g_worlds

Parameters

[in] _pause True to pause, False to unpause.

void gazebo::physics::remove_worlds ( )

remove multiple worlds stored in static variable gazebo::g_worlds

void gazebo::physics::run_world	(	WorldPtr	_world,
		unsigned int	_iterations = `0`
	)

Run world by calling World::Run() given a pointer to it.

Parameters

[in]	_world	World to run.
[in]	_iterations	Number of iterations for each world to take. Zero indicates that each world should continue forever.

void gazebo::physics::run_worlds ( unsigned int _iterations = 0 )

Run multiple worlds stored in static variable gazebo::g_worlds.

Parameters

[in] _iterations Number of iterations for each world to take. Zero indicates that each world should continue forever.

void gazebo::physics::stop_world ( WorldPtr _world )

Stop world by calling World::Stop() given a pointer to it.

Parameters

[in] _world World to stop.

void gazebo::physics::stop_worlds ( )

stop multiple worlds stored in static variable gazebo::g_worlds

bool gazebo::physics::worlds_running ( )

Return true if any world is running.

Returns: True if any world is running.

Variable Documentation

std::string gazebo::physics::EntityTypename[]

static

Initial value:

 {
      "common",
      "entity",
      "model",
      "actor",
      "link",
      "collision",
      "light",
      "visual",
      "joint",
      "ball",
      "hinge2",
      "hinge",
      "slider",
      "universal",
      "shape",
      "box",
      "cylinder",
      "heightmap",
      "map",
      "multiray",
      "ray",
      "plane",
      "sphere",
      "trimesh"
    }

String names for the different entity types.

Files

Namespaces

Classes

Macros

Typedefs

Functions

Variables

Detailed Description

Macro Definition Documentation

Typedef Documentation

Function Documentation

Variable Documentation