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gazebo::physics::RayShape Class Referenceabstract

Base class for Ray collision geometry. More...

#include <physics/physics.hh>

Inheritance diagram for gazebo::physics::RayShape:
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Collaboration diagram for gazebo::physics::RayShape:
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Public Member Functions

 RayShape (PhysicsEnginePtr _physicsEngine)
 Constructor for a global ray. More...
 
 RayShape (CollisionPtr _parent)
 Constructor. More...
 
virtual ~RayShape ()
 Destructor. More...
 
void FillMsg (msgs::Geometry &_msg)
 Fill a message with data from this object. More...
 
int GetFiducial () const
 Get the fiducial id detected by this ray. More...
 
virtual void GetGlobalPoints (math::Vector3 &_posA, math::Vector3 &_posB)
 Get the global starting and ending points. More...
 
virtual void GetIntersection (double &_dist, std::string &_entity)=0
 Get the nearest intersection. More...
 
double GetLength () const
 Get the length of the ray. More...
 
virtual void GetRelativePoints (math::Vector3 &_posA, math::Vector3 &_posB)
 Get the relative starting and ending points. More...
 
float GetRetro () const
 Get the retro-reflectivness detected by this ray. More...
 
virtual void Init ()
 In the ray. More...
 
virtual void ProcessMsg (const msgs::Geometry &_msg)
 Update this shape from a message. More...
 
void SetFiducial (int _fid)
 Set the fiducial id detected by this ray. More...
 
virtual void SetLength (double _len)
 Set the length of the ray. More...
 
virtual void SetPoints (const math::Vector3 &_posStart, const math::Vector3 &_posEnd)
 Set the ray based on starting and ending points relative to the body. More...
 
void SetRetro (float _retro)
 Set the retro-reflectivness detected by this ray. More...
 
virtual void SetScale (const math::Vector3 &_scale)
 Set the scale of the ray. More...
 
virtual void Update ()=0
 Update the ray collision. More...
 
- Public Member Functions inherited from gazebo::physics::Shape
 Shape (CollisionPtr _parent)
 Constructor. More...
 
virtual ~Shape ()
 Destructor. More...
 
virtual math::Vector3 GetScale () const
 Get the scale of the shape. More...
 
- Public Member Functions inherited from gazebo::physics::Base
 Base (BasePtr _parent)
 Constructor. More...
 
virtual ~Base ()
 Destructor. More...
 
void AddChild (BasePtr _child)
 Add a child to this entity. More...
 
void AddType (EntityType _type)
 Add a type specifier. More...
 
virtual void Fini ()
 Finialize the object. More...
 
BasePtr GetByName (const std::string &_name)
 Get by name. More...
 
BasePtr GetChild (unsigned int _i) const
 Get a child by index. More...
 
BasePtr GetChild (const std::string &_name)
 Get a child by name. More...
 
unsigned int GetChildCount () const
 Get the number of children. More...
 
uint32_t GetId () const
 Return the ID of this entity. More...
 
std::string GetName () const
 Return the name of the entity. More...
 
BasePtr GetParent () const
 Get the parent. More...
 
int GetParentId () const
 Return the ID of the parent. More...
 
bool GetSaveable () const
 Get whether the object should be "saved", when the user selects to save the world to xml. More...
 
std::string GetScopedName (bool _prependWorldName=false) const
 Return the name of this entity with the model scope model1::...::modelN::entityName. More...
 
virtual const sdf::ElementPtr GetSDF ()
 Get the SDF values for the object. More...
 
unsigned int GetType () const
 Get the full type definition. More...
 
const WorldPtrGetWorld () const
 Get the World this object is in. More...
 
bool HasType (const EntityType &_t) const
 Returns true if this object's type definition has the given type. More...
 
bool IsSelected () const
 True if the entity is selected by the user. More...
 
virtual void Load (sdf::ElementPtr _sdf)
 Load. More...
 
bool operator== (const Base &_ent) const
 Returns true if the entities are the same. More...
 
void Print (const std::string &_prefix)
 Print this object to screen via gzmsg. More...
 
virtual void RemoveChild (unsigned int _id)
 Remove a child from this entity. More...
 
void RemoveChild (const std::string &_name)
 Remove a child by name. More...
 
void RemoveChildren ()
 Remove all children. More...
 
virtual void Reset ()
 Reset the object. More...
 
virtual void Reset (Base::EntityType _resetType)
 Calls recursive Reset on one of the Base::EntityType's. More...
 
virtual void SetName (const std::string &_name)
 Set the name of the entity. More...
 
void SetParent (BasePtr _parent)
 Set the parent. More...
 
void SetSaveable (bool _v)
 Set whether the object should be "saved", when the user selects to save the world to xml. More...
 
virtual bool SetSelected (bool _show)
 Set whether this entity has been selected by the user through the gui. More...
 
void SetWorld (const WorldPtr &_newWorld)
 Set the world this object belongs to. More...
 
virtual void UpdateParameters (sdf::ElementPtr _sdf)
 Update the parameters using new sdf values. More...
 

Protected Attributes

int contactFiducial
 Fiducial ID value. More...
 
double contactLen
 Length of the ray. More...
 
double contactRetro
 Retro reflectance value. More...
 
math::Vector3 globalEndPos
 End position of the ray in global cs. More...
 
math::Vector3 globalStartPos
 Start position of the ray in global cs. More...
 
math::Vector3 relativeEndPos
 End position of the ray, relative to the body. More...
 
math::Vector3 relativeStartPos
 Start position of the ray, relative to the body. More...
 
- Protected Attributes inherited from gazebo::physics::Shape
CollisionPtr collisionParent
 This shape's collision parent. More...
 
math::Vector3 scale
 This shape's scale;. More...
 
- Protected Attributes inherited from gazebo::physics::Base
Base_V children
 Children of this entity. More...
 
BasePtr parent
 Parent of this entity. More...
 
sdf::ElementPtr sdf
 The SDF values for this object. More...
 
WorldPtr world
 Pointer to the world. More...
 

Additional Inherited Members

- Public Types inherited from gazebo::physics::Base
enum  EntityType {
  BASE = 0x00000000, ENTITY = 0x00000001, MODEL = 0x00000002, LINK = 0x00000004,
  COLLISION = 0x00000008, ACTOR = 0x00000016, LIGHT = 0x00000010, VISUAL = 0x00000020,
  JOINT = 0x00000040, BALL_JOINT = 0x00000080, HINGE2_JOINT = 0x00000100, HINGE_JOINT = 0x00000200,
  SLIDER_JOINT = 0x00000400, SCREW_JOINT = 0x00000800, UNIVERSAL_JOINT = 0x00001000, GEARBOX_JOINT = 0x00002000,
  SHAPE = 0x00010000, BOX_SHAPE = 0x00020000, CYLINDER_SHAPE = 0x00040000, HEIGHTMAP_SHAPE = 0x00080000,
  MAP_SHAPE = 0x00100000, MULTIRAY_SHAPE = 0x00200000, RAY_SHAPE = 0x00400000, PLANE_SHAPE = 0x00800000,
  SPHERE_SHAPE = 0x01000000, MESH_SHAPE = 0x02000000, POLYLINE_SHAPE = 0x04000000, SENSOR_COLLISION = 0x10000000
}
 Unique identifiers for all entity types. More...
 
- Protected Member Functions inherited from gazebo::physics::Base
void ComputeScopedName ()
 Compute the scoped name of this object based on its parents. More...
 

Detailed Description

Base class for Ray collision geometry.

Constructor & Destructor Documentation

gazebo::physics::RayShape::RayShape ( PhysicsEnginePtr  _physicsEngine)
explicit

Constructor for a global ray.

Parameters
[in]_physicsEnginePointer to the physics engine.
gazebo::physics::RayShape::RayShape ( CollisionPtr  _parent)
explicit

Constructor.

Parameters
[in]_parentCollision parent of the shape.
virtual gazebo::physics::RayShape::~RayShape ( )
virtual

Destructor.

Member Function Documentation

void gazebo::physics::RayShape::FillMsg ( msgs::Geometry &  _msg)
virtual

Fill a message with data from this object.

Parameters
[out]_msgMessage to fill. Implement this function.

Implements gazebo::physics::Shape.

int gazebo::physics::RayShape::GetFiducial ( ) const

Get the fiducial id detected by this ray.

Returns
Fiducial id detected.
virtual void gazebo::physics::RayShape::GetGlobalPoints ( math::Vector3 _posA,
math::Vector3 _posB 
)
virtual

Get the global starting and ending points.

Parameters
[out]_posAReturns the starting point.
[out]_posBReturns the ending point.
virtual void gazebo::physics::RayShape::GetIntersection ( double &  _dist,
std::string &  _entity 
)
pure virtual

Get the nearest intersection.

Parameters
[out]_distDistance to the intersection.
[out]_entityName of the entity the ray intersected with.

Implemented in gazebo::physics::DARTRayShape, gazebo::physics::ODERayShape, gazebo::physics::BulletRayShape, and gazebo::physics::SimbodyRayShape.

double gazebo::physics::RayShape::GetLength ( ) const

Get the length of the ray.

Returns
The ray length.
virtual void gazebo::physics::RayShape::GetRelativePoints ( math::Vector3 _posA,
math::Vector3 _posB 
)
virtual

Get the relative starting and ending points.

Parameters
[in]_posAReturns the starting point.
[in]_posBReturns the ending point.
float gazebo::physics::RayShape::GetRetro ( ) const

Get the retro-reflectivness detected by this ray.

Returns
Retro reflectance value.
virtual void gazebo::physics::RayShape::Init ( )
virtual

In the ray.

Implements gazebo::physics::Shape.

virtual void gazebo::physics::RayShape::ProcessMsg ( const msgs::Geometry &  _msg)
virtual

Update this shape from a message.

Parameters
[in]_msgMessage to update from. Implement this function.

Implements gazebo::physics::Shape.

void gazebo::physics::RayShape::SetFiducial ( int  _fid)

Set the fiducial id detected by this ray.

Parameters
[in]_fidFiducial id detected by this ray.
virtual void gazebo::physics::RayShape::SetLength ( double  _len)
virtual

Set the length of the ray.

Parameters
[in]_lenLength of the array.
virtual void gazebo::physics::RayShape::SetPoints ( const math::Vector3 _posStart,
const math::Vector3 _posEnd 
)
virtual

Set the ray based on starting and ending points relative to the body.

Parameters
[in]_posStartStart position, relative the body.
[in]_posEndEnd position, relative to the body.

Reimplemented in gazebo::physics::DARTRayShape, gazebo::physics::ODERayShape, gazebo::physics::BulletRayShape, and gazebo::physics::SimbodyRayShape.

void gazebo::physics::RayShape::SetRetro ( float  _retro)

Set the retro-reflectivness detected by this ray.

Parameters
[in]_retroRetro reflectance value.
virtual void gazebo::physics::RayShape::SetScale ( const math::Vector3 _scale)
virtual

Set the scale of the ray.

Implements gazebo::physics::Shape.

virtual void gazebo::physics::RayShape::Update ( )
pure virtual

Member Data Documentation

int gazebo::physics::RayShape::contactFiducial
protected

Fiducial ID value.

double gazebo::physics::RayShape::contactLen
protected

Length of the ray.

double gazebo::physics::RayShape::contactRetro
protected

Retro reflectance value.

math::Vector3 gazebo::physics::RayShape::globalEndPos
protected

End position of the ray in global cs.

math::Vector3 gazebo::physics::RayShape::globalStartPos
protected

Start position of the ray in global cs.

math::Vector3 gazebo::physics::RayShape::relativeEndPos
protected

End position of the ray, relative to the body.

math::Vector3 gazebo::physics::RayShape::relativeStartPos
protected

Start position of the ray, relative to the body.


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