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

#include <physics/physics.hh>

Inherits State.

Public Member Functions
	LinkState ()
	Default constructor. More...

	LinkState (const LinkPtr _link, const common::Time &_realTime, const common::Time &_simTime, const uint64_t _iterations)
	Constructor. More...

	LinkState (const LinkPtr _link)
	Constructor. More...

	LinkState (const sdf::ElementPtr _sdf)
	Constructor. More...

virtual	~LinkState ()
	Destructor. More...

const ignition::math::Pose3d &	Acceleration () const
	Get the link acceleration. More...

void	FillSDF (sdf::ElementPtr _sdf)
	Populate a state SDF element with data from the object. More...

CollisionState	GetCollisionState (unsigned int _index) const
	Get a collision state. More...

CollisionState	GetCollisionState (const std::string &_collisionName) const
	Get a link state by link name. More...

unsigned int	GetCollisionStateCount () const
	Get the number of link states. More...

const std::vector < CollisionState > &	GetCollisionStates () const
	Get the collision states. More...

uint64_t	GetIterations () const
	Get the iterations when this state was generated. More...

std::string	GetName () const
	Get the name associated with this State. More...

common::Time	GetRealTime () const
	Get the real time when this state was generated. More...

common::Time	GetSimTime () const
	Get the sim time when this state was generated. More...

common::Time	GetWallTime () const
	Get the wall time when this state was generated. More...

bool	IsZero () const
	Return true if the values in the state are zero. More...

void	Load (const LinkPtr _link, const common::Time &_realTime, const common::Time &_simTime, const uint64_t _iterations)
	Load a LinkState from a Link pointer. More...

virtual void	Load (const sdf::ElementPtr _elem)
	Load state from SDF element. More...

LinkState	operator+ (const LinkState &_state) const
	Addition operator. More...

State	operator- (const State &_state) const
	Subtraction operator. More...

LinkState	operator- (const LinkState &_state) const
	Subtraction operator. More...

LinkState &	operator= (const LinkState &_state)
	Assignment operator. More...

const ignition::math::Pose3d &	Pose () const
	Get the link pose. More...

bool	RecordVelocity () const
	Get whether link velocity is recorded. More...

virtual void	SetIterations (const uint64_t _iterations)
	Set the simulation iterations when this state was generated. More...

void	SetName (const std::string &_name)
	Set the name associated with this State. More...

virtual void	SetRealTime (const common::Time &_time)
	Set the real time when this state was generated. More...

void	SetRecordVelocity (const bool _record)
	Set whether to record link velocity. More...

virtual void	SetSimTime (const common::Time &_time)
	Set the sim time when this state was generated. More...

virtual void	SetWallTime (const common::Time &_time)
	Set the wall time when this state was generated. More...

const ignition::math::Pose3d &	Velocity () const
	Get the link velocity. More...

const ignition::math::Pose3d &	Wrench () const
	Get the force and torque applied to the Link. More...

Protected Attributes
uint64_t	iterations = 0
	The number of simulation iterations when this state was generated. More...

std::string	name
	Name associated with this State. More...

common::Time	realTime

common::Time	simTime

common::Time	wallTime
	Times for the state data. More...

Friends
std::ostream &	operator<< (std::ostream &_out, const gazebo::physics::LinkState &_state)
	Stream insertion operator. More...

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

LinkState ( )

Default constructor.

LinkState	(	const LinkPtr	_link,
		const common::Time &	_realTime,
		const common::Time &	_simTime,
		const uint64_t	_iterations
	)

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
[in]	_iterations	Simulation iterations.

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.

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 ~LinkState ( )

virtual

Destructor.

Member Function Documentation

const ignition::math::Pose3d& Acceleration ( ) const

Get the link acceleration.

Returns: The acceleration represented as a ignition::math::Pose3d.

void FillSDF ( sdf::ElementPtr _sdf )

Populate a state SDF element with data from the object.

Parameters

[out] _sdf SDF element to populate.

CollisionState 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 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 GetCollisionStateCount ( ) const

Get the number of link states.

This returns the number of Collisions recorded.

Returns: Number of CollisionState recorded.

const std::vector<CollisionState>& GetCollisionStates ( ) const

Get the collision states.

Returns: A vector of collision states.

uint64_t GetIterations ( ) const

inherited

Get the iterations when this state was generated.

Returns: Iterations when the data was recorded

std::string GetName ( ) const

inherited

Get the name associated with this State.

Returns: Name associated with this state information. Typically a name of an Entity.

common::Time GetRealTime ( ) const

inherited

Get the real time when this state was generated.

Returns: Clock time since simulation was stated.

common::Time GetSimTime ( ) const

inherited

Get the sim time when this state was generated.

Returns: Simulation time when the data was recorded.

common::Time GetWallTime ( ) const

inherited

Get the wall time when this state was generated.

Returns: The absolute clock time when the State data was recorded.

bool IsZero ( ) const

Return true if the values in the state are zero.

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

void Load	(	const LinkPtr	_link,
		const common::Time &	_realTime,
		const common::Time &	_simTime,
		const uint64_t	_iterations
	)

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.
[in]	_iterations	Simulation iterations.

virtual void 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 State.

LinkState operator+ ( const LinkState & _state ) const

Addition operator.

Parameters

[in] _pt A state to add.

Returns: The resulting state.

State operator- ( const State & _state ) const

inherited

Subtraction operator.

Parameters

[in] _pt A state to substract.

Returns: The resulting state.

LinkState operator- ( const LinkState & _state ) const

Subtraction operator.

Parameters

[in] _pt A state to substract.

Returns: The resulting state.

LinkState& operator= ( const LinkState & _state )

Assignment operator.

Parameters

[in] _state State value

Returns: this

const ignition::math::Pose3d& Pose ( ) const

Get the link pose.

Returns: The ignition::math::Pose3d of the Link.

bool RecordVelocity ( ) const

Get whether link velocity is recorded.

Returns: True if link velocity is recorded

virtual void SetIterations ( const uint64_t _iterations )

virtual

Set the simulation iterations when this state was generated.

Parameters

[in] _iterations Simulation iterations when the data was recorded.

Reimplemented from State.

void SetName ( const std::string & _name )

inherited

Set the name associated with this State.

Parameters

[in] _name Name associated with this state information. Typically the name of an Entity.

virtual void 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 State.

void SetRecordVelocity ( const bool _record )

Set whether to record link velocity.

Parameters

[in] _record True to record link velocity, false to leave it out of the log

virtual void 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 State.

virtual void 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 State.

const ignition::math::Pose3d& Velocity ( ) const

Get the link velocity.

Returns: The velocity represented as a ignition::math::Pose3d.

const ignition::math::Pose3d& Wrench ( ) const

Get the force and torque applied to the Link.

Returns: The wrench represented as an ignition::math::Pose3d.

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.

Member Data Documentation

uint64_t iterations = 0

protectedinherited

The number of simulation iterations when this state was generated.

std::string name

protectedinherited

Name associated with this State.

common::Time realTime

protectedinherited

common::Time simTime

protectedinherited

common::Time wallTime

protectedinherited

Times for the state data.

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

LinkState.hh

Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation