Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner. More...

#include <physics/physics.hh>

Inherits Shape.

Inherited by BulletMultiRayShape, DARTMultiRayShape, ODEMultiRayShape, and SimbodyMultiRayShape.

Public Types
enum	EntityType { BASE = 0x00000000, ENTITY = 0x00000001, MODEL = 0x00000002, LINK = 0x00000004, COLLISION = 0x00000008, 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, FIXED_JOINT = 0x00004000, ACTOR = 0x00008000, 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...

Public Member Functions
	MultiRayShape (CollisionPtr _parent)
	Constructor. More...

	MultiRayShape (PhysicsEnginePtr _physicsEngine)
	Constructor for a stand alone multiray shape. More...

virtual	~MultiRayShape ()
	Destructor. More...

void	AddChild (BasePtr _child)
	Add a child to this entity. More...

virtual void	AddRay (const ignition::math::Vector3d &_start, const ignition::math::Vector3d &_end)
	Add a ray to the collision. More...

void	AddType (EntityType _type)
	Add a type specifier. More...

virtual double	ComputeVolume () const
	Documentation inherited. More...

template<typename T >
event::ConnectionPtr	ConnectNewLaserScans (T _subscriber)
	Connect a to the new laser scan signal. More...

void	FillMsg (msgs::Geometry &_msg)
	This function is not implemented. 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...

int	GetFiducial (unsigned int _index)
	Get detected fiducial value for a ray. More...

uint32_t	GetId () const
	Return the ID of this entity. More...

double	GetMaxRange () const
	Get the maximum range. More...

double	GetMinRange () const
	Get the minimum range. 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...

double	GetRange (unsigned int _index)
	Get detected range for a ray. More...

double	GetResRange () const
	Get the range resolution. More...

double	GetRetro (unsigned int _index)
	Get detected retro (intensity) value for a ray. More...

int	GetSampleCount () const
	Get the horizontal sample count. More...

bool	GetSaveable () const
	Get whether the object should be "saved", when the user selects to save the world to xml. More...

double	GetScanResolution () const
	Get the horizontal resolution. 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...

int	GetVerticalSampleCount () const
	Get the vertical sample count. More...

double	GetVerticalScanResolution () const
	Get the vertical range resolution. More...

const WorldPtr &	GetWorld () 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...

virtual void	Init ()
	Init the shape. More...

bool	IsSelected () const
	True if the entity is selected by the user. More...

virtual void	Load (sdf::ElementPtr _sdf)
	Load. More...

ignition::math::Angle	MaxAngle () const
	Get the maximum angle. More...

ignition::math::Angle	MinAngle () const
	Get the minimum angle. 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	ProcessMsg (const msgs::Geometry &_msg)
	This function is not implemented. More...

RayShapePtr	Ray (const unsigned int _rayIndex) const
	Get a pointer to a ray. More...

unsigned int	RayCount () const
	Get the number of rays. 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	RemoveChild (physics::BasePtr _child)
	Remove a child by pointer. 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 ignition::math::Vector3d	Scale () const
	Get the scale of the shape. More...

virtual void	SetName (const std::string &_name)
	Set the name of the entity. More...

void	SetParent (BasePtr _parent)
	Set the parent. More...

bool	SetRay (const unsigned int _rayIndex, const ignition::math::Vector3d &_start, const ignition::math::Vector3d &_end)
	Set the points of a ray. More...

void	SetSaveable (bool _v)
	Set whether the object should be "saved", when the user selects to save the world to xml. More...

virtual void	SetScale (const ignition::math::Vector3d &_scale)
	Set the scale of the multi ray shape. 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...

std::string	TypeStr () const
	Get the string name for the entity type. More...

void	Update ()
	Update the ray collisions. More...

virtual void	UpdateParameters (sdf::ElementPtr _sdf)
	Update the parameters using new sdf values. More...

virtual void	UpdateRays ()=0
	Method for updating the rays. More...

common::URI	URI () const
	Return the common::URI of this entity. More...

ignition::math::Angle	VerticalMaxAngle () const
	Get the vertical max angle. More...

ignition::math::Angle	VerticalMinAngle () const
	Get the vertical min angle. More...

Protected Member Functions
void	ComputeScopedName ()
	Compute the scoped name of this object based on its parents. More...

virtual void	RegisterIntrospectionItems ()
	Register items in the introspection service. More...

virtual void	UnregisterIntrospectionItems ()
	Unregister items in the introspection service. More...

Protected Attributes
Base_V	children
	Children of this entity. More...

CollisionPtr	collisionParent
	This shape's collision parent. More...

sdf::ElementPtr	horzElem
	Horizontal SDF element pointer. More...

std::vector< common::URI >	introspectionItems
	All the introspection items regsitered for this. More...

event::EventT< void()>	newLaserScans
	New laser scans event. More...

ignition::math::Pose3d	offset
	Pose offset of all the rays. More...

BasePtr	parent
	Parent of this entity. More...

sdf::ElementPtr	rangeElem
	Range SDF element pointer. More...

sdf::ElementPtr	rayElem
	Ray SDF element pointer. More...

std::vector< RayShapePtr >	rays
	Ray data. More...

ignition::math::Vector3d	scale = ignition::math::Vector3d::One
	This shape's scale;. More...

sdf::ElementPtr	scanElem
	Scan SDF element pointer. More...

sdf::ElementPtr	sdf
	The SDF values for this object. More...

sdf::ElementPtr	vertElem
	Vertical SDF element pointer. More...

WorldPtr	world
	Pointer to the world. More...

Detailed Description

Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner.

Member Enumeration Documentation

enum EntityType

inherited

Unique identifiers for all entity types.

Enumerator
BASE	Base type.
ENTITY	Entity type.
MODEL	Model type.
LINK	Link type.
COLLISION	Collision type.
LIGHT	Light type.
VISUAL	Visual type.
JOINT	Joint type.
BALL_JOINT	BallJoint type.
HINGE2_JOINT	Hing2Joint type.
HINGE_JOINT	HingeJoint type.
SLIDER_JOINT	SliderJoint type.
SCREW_JOINT	ScrewJoint type.
UNIVERSAL_JOINT	UniversalJoint type.
GEARBOX_JOINT	GearboxJoint type.
FIXED_JOINT	FixedJoint type.
ACTOR	Actor type.
SHAPE	Shape type.
BOX_SHAPE	BoxShape type.
CYLINDER_SHAPE	CylinderShape type.
HEIGHTMAP_SHAPE	HeightmapShape type.
MAP_SHAPE	MapShape type.
MULTIRAY_SHAPE	MultiRayShape type.
RAY_SHAPE	RayShape type.
PLANE_SHAPE	PlaneShape type.
SPHERE_SHAPE	SphereShape type.
MESH_SHAPE	MeshShape type.
POLYLINE_SHAPE	PolylineShape type.
SENSOR_COLLISION	Indicates a collision shape used for sensing.

Constructor & Destructor Documentation

MultiRayShape ( CollisionPtr _parent )

explicit

Constructor.

Parameters

[in] _parent Parent collision shape.

MultiRayShape ( PhysicsEnginePtr _physicsEngine )

explicit

Constructor for a stand alone multiray shape.

Stand alone means the multiray shape is not attached to a Collision object.

Example:

gazebo::physics::MultiRayShapePtr rays = boost::dynamic_pointer_cast<gazebo::physics::MultiRayShape>( world->Physics()->CreateShape("multiray", gazebo::physics::CollisionPtr()));

Parameters

[in] _physicsEngine Pointer to the physics engine.

virtual ~MultiRayShape ( )

virtual

Destructor.

Member Function Documentation

void AddChild ( BasePtr _child )

inherited

Add a child to this entity.

Parameters

[in] _child Child entity.

virtual void AddRay	(	const ignition::math::Vector3d &	_start,
		const ignition::math::Vector3d &	_end
	)

virtual

Add a ray to the collision.

Parameters

[in]	_start	Start of the ray.
[in]	_end	End of the ray.

Reimplemented in ODEMultiRayShape, DARTMultiRayShape, BulletMultiRayShape, and SimbodyMultiRayShape.

void AddType ( EntityType _type )

inherited

Add a type specifier.

Parameters

[in] _type New type to append to this objects type definition.

void ComputeScopedName ( )

protectedinherited

Compute the scoped name of this object based on its parents.

See Also: Base::GetScopedName

virtual double ComputeVolume ( ) const

virtual

Documentation inherited.

Reimplemented from Shape.

event::ConnectionPtr ConnectNewLaserScans ( T _subscriber )

inline

Connect a to the new laser scan signal.

Parameters

[in] _subscriber Callback function.

Returns: The connection, which must be kept in scope.

References EventT< T >::Connect(), and MultiRayShape::newLaserScans.

void FillMsg ( msgs::Geometry & _msg )

virtual

This function is not implemented.

Fill a message with this shape's values.

Parameters

[out] _msg Message that contains the shape's values.

Implements Shape.

virtual void Fini ( )

virtualinherited

Finialize the object.

Reimplemented in Joint, Actor, Model, Link, Entity, DARTModel, ODEJoint, Road, DARTCollision, DARTLink, BulletJoint, ODECollision, SimbodyLink, BulletLink, ODELink, and Collision.

BasePtr GetByName ( const std::string & _name )

inherited

Get by name.

Parameters

[in] _name Get a child (or self) object by name

Returns: A pointer to the object, NULL if not found

BasePtr GetChild ( unsigned int _i ) const

inherited

Get a child by index.

Parameters

[in] _i Index of the child to retreive.

Returns: A pointer to the object, NULL if the index is invalid.

BasePtr GetChild ( const std::string & _name )

inherited

Get a child by name.

Parameters

[in] _name Name of the child.

Returns: A pointer to the object, NULL if not found

unsigned int GetChildCount ( ) const

inherited

Get the number of children.

Returns: The number of children.

int GetFiducial ( unsigned int _index )

Get detected fiducial value for a ray.

Parameters

[in] _index Index of the ray.

Returns: Fiducial value for the ray.

uint32_t GetId ( ) const

inherited

Return the ID of this entity.

This id is unique.

Returns: Integer ID.

double GetMaxRange ( ) const

Get the maximum range.

Returns: Maximum range of all the rays.

double GetMinRange ( ) const

Get the minimum range.

Returns: Minimum range of all the rays.

std::string GetName ( ) const

inherited

Return the name of the entity.

Returns: Name of the entity.

BasePtr GetParent ( ) const

inherited

Get the parent.

Returns: Pointer to the parent entity.

int GetParentId ( ) const

inherited

Return the ID of the parent.

Returns: Integer ID.

double GetRange ( unsigned int _index )

Get detected range for a ray.

Parameters

[in] _index Index of the ray.

Returns: Returns DBL_MAX for no detection.

double GetResRange ( ) const

Get the range resolution.

Returns: Range resolution of all the rays.

double GetRetro ( unsigned int _index )

Get detected retro (intensity) value for a ray.

Parameters

[in] _index Index of the ray.

Returns: Retro value for the ray.

int GetSampleCount ( ) const

Get the horizontal sample count.

Returns: Horizontal sample count.

bool GetSaveable ( ) const

inherited

Get whether the object should be "saved", when the user selects to save the world to xml.

Returns: True if the object is saveable.

double GetScanResolution ( ) const

Get the horizontal resolution.

Returns: Horizontal resolution.

std::string GetScopedName ( bool _prependWorldName = false ) const

inherited

Return the name of this entity with the model scope model1::...::modelN::entityName.

Parameters

[in] _prependWorldName True to prended the returned string with the world name. The result will be world::model1::...::modelN::entityName.

Returns: The scoped name.

virtual const sdf::ElementPtr GetSDF ( )

virtualinherited

Get the SDF values for the object.

Returns: The SDF values for the object.

Reimplemented in Actor, and Model.

unsigned int GetType ( ) const

inherited

Get the full type definition.

Returns: The full type definition.

int GetVerticalSampleCount ( ) const

Get the vertical sample count.

Returns: Verical sample count.

double GetVerticalScanResolution ( ) const

Get the vertical range resolution.

Returns: Vertical range resolution.

const WorldPtr& GetWorld ( ) const

inherited

Get the World this object is in.

Returns: The World this object is part of.

bool HasType ( const EntityType & _t ) const

inherited

Returns true if this object's type definition has the given type.

Parameters

[in] _t Type to check.

Returns: True if this object's type definition has the.

virtual void Init ( )

virtual

Init the shape.

Implements Shape.

bool IsSelected ( ) const

inherited

True if the entity is selected by the user.

Returns: True if the entity is selected.

virtual void Load ( sdf::ElementPtr _sdf )

virtualinherited

Load.

Parameters

[in] node Pointer to an SDF parameters

Reimplemented in Joint, Actor, Model, Link, SimbodySliderJoint, Entity, BallJoint< ODEJoint >, BallJoint< DARTJoint >, BallJoint< SimbodyJoint >, BallJoint< BulletJoint >, UniversalJoint< ODEJoint >, UniversalJoint< DARTJoint >, UniversalJoint< SimbodyJoint >, UniversalJoint< BulletJoint >, MapShape, GearboxJoint< ODEJoint >, Hinge2Joint< ODEJoint >, Hinge2Joint< DARTJoint >, Hinge2Joint< SimbodyJoint >, Hinge2Joint< BulletJoint >, HeightmapShape, ODEJoint, BulletScrewJoint, HingeJoint< ODEJoint >, HingeJoint< DARTJoint >, HingeJoint< SimbodyJoint >, HingeJoint< BulletJoint >, BulletCollision, Collision, ScrewJoint< ODEJoint >, ScrewJoint< DARTJoint >, ScrewJoint< SimbodyJoint >, ScrewJoint< BulletJoint >, DARTJoint, Road, SliderJoint< ODEJoint >, SliderJoint< DARTJoint >, SliderJoint< SimbodyJoint >, SliderJoint< BulletJoint >, BulletBallJoint, BulletHinge2Joint, BulletJoint, DARTModel, ODECollision, SimbodyCollision, FixedJoint< ODEJoint >, FixedJoint< DARTJoint >, FixedJoint< SimbodyJoint >, FixedJoint< BulletJoint >, BulletUniversalJoint, DARTCollision, DARTLink, ODEHinge2Joint, ODEHingeJoint, ODESliderJoint, SimbodyFixedJoint, SimbodyUniversalJoint, SimbodyLink, SimbodyScrewJoint, BulletFixedJoint, BulletHingeJoint, BulletLink, BulletSliderJoint, SimbodyHinge2Joint, SimbodyHingeJoint, SimbodyJoint, DARTMeshShape, DARTScrewJoint, ODEGearboxJoint, ODELink, DARTPolylineShape, DARTUniversalJoint, ODEFixedJoint, ODEMeshShape, ODEScrewJoint, SimbodyBallJoint, SimbodyMeshShape, BulletMeshShape, BulletPolylineShape, DARTBallJoint, DARTFixedJoint, DARTHinge2Joint, DARTHingeJoint, DARTSliderJoint, ODEPolylineShape, SimbodyModel, and SimbodyPolylineShape.

ignition::math::Angle MaxAngle ( ) const

Get the maximum angle.

Returns: Maximum angle of ray scan.

ignition::math::Angle MinAngle ( ) const

Get the minimum angle.

Returns: Minimum angle of ray scan.

bool operator== ( const Base & _ent ) const

inherited

Returns true if the entities are the same.

Checks only the name.

Parameters

[in] _ent Base object to compare with.

Returns: True if the entities are the same.

void Print ( const std::string & _prefix )

inherited

Print this object to screen via gzmsg.

Parameters

[in] _prefix Usually a set of spaces.

virtual void ProcessMsg ( const msgs::Geometry & _msg )

virtual

This function is not implemented.

Update the ray based on a message.

Parameters

[in] _msg Message to update from.

Implements Shape.

RayShapePtr Ray ( const unsigned int _rayIndex ) const

Get a pointer to a ray.

Parameters

[in] _rayIndex index to the ray

Returns: Pointer to the ray, or NULL on error

See Also: RayCount()

unsigned int RayCount ( ) const

Get the number of rays.

Returns: Number of rays in this shape.

virtual void RegisterIntrospectionItems ( )

protectedvirtualinherited

Register items in the introspection service.

Reimplemented in Link, Joint, and Model.

virtual void RemoveChild ( unsigned int _id )

virtualinherited

Remove a child from this entity.

Parameters

[in] _id ID of the child to remove.

void RemoveChild ( const std::string & _name )

inherited

Remove a child by name.

Parameters

[in] _name Name of the child.

void RemoveChild ( physics::BasePtr _child )

inherited

Remove a child by pointer.

Parameters

[in] _child Pointer to the child.

void RemoveChildren ( )

inherited

Remove all children.

virtual void Reset ( )

virtualinherited

Reset the object.

Reimplemented in Joint, Actor, Model, Link, Entity, ODEJoint, DARTJoint, BulletJoint, and SimbodyJoint.

virtual void Reset ( Base::EntityType _resetType )

virtualinherited

Calls recursive Reset on one of the Base::EntityType's.

Parameters

[in] _resetType The type of reset operation

virtual ignition::math::Vector3d Scale ( ) const

virtualinherited

Get the scale of the shape.

Returns: Scale of the shape.

Reimplemented in MapShape.

virtual void SetName ( const std::string & _name )

virtualinherited

Set the name of the entity.

Parameters

[in] _name New name.

Reimplemented in Entity.

void SetParent ( BasePtr _parent )

inherited

Set the parent.

Parameters

[in] _parent Parent object.

bool SetRay	(	const unsigned int	_rayIndex,
		const ignition::math::Vector3d &	_start,
		const ignition::math::Vector3d &	_end
	)

Set the points of a ray.

Parameters

[in]	_rayIndex	Index of the ray to set.
[in]	_start	Start of the ray.
[in]	_end	End of the ray.

Returns: True if the ray was set. False can be returned if the _rayIndex is invalid.

void SetSaveable ( bool _v )

inherited

Set whether the object should be "saved", when the user selects to save the world to xml.

Parameters

[in] _v Set to True if the object should be saved.

virtual void SetScale ( const ignition::math::Vector3d & _scale )

virtual

Set the scale of the multi ray shape.

Returns: _scale Scale to set the multi ray shape to.

Implements Shape.

virtual bool SetSelected ( bool _show )

virtualinherited

Set whether this entity has been selected by the user through the gui.

Parameters

[in] _show True to set this entity as selected.

Reimplemented in Link.

void SetWorld ( const WorldPtr & _newWorld )

inherited

Set the world this object belongs to.

This will also set the world for all children.

Parameters

[in] _newWorld The new World this object is part of.

std::string TypeStr ( ) const

inherited

Get the string name for the entity type.

Returns: The string name for this entity.

virtual void UnregisterIntrospectionItems ( )

protectedvirtualinherited

Unregister items in the introspection service.

void Update ( )

virtual

Update the ray collisions.

Reimplemented from Base.

virtual void UpdateParameters ( sdf::ElementPtr _sdf )

virtualinherited

Update the parameters using new sdf values.

Parameters

[in] _sdf Update the object's parameters based on SDF values.

Reimplemented in Joint, Actor, Link, Model, Entity, and Collision.

virtual void UpdateRays ( )

pure virtual

Method for updating the rays.

This function is normally called automatically, such as when a laser sensor is updated. Only call this function on a standalone multiray shape.

See Also: explicit MultiRayShape(PhysicsEnginePtr _physicsEngine)

Implemented in DARTMultiRayShape, ODEMultiRayShape, BulletMultiRayShape, and SimbodyMultiRayShape.

common::URI URI ( ) const

inherited

Return the common::URI of this entity.

The URI includes the world where the entity is contained and all the hierarchy of sub-entities that can compose this entity. E.g.: A link entity contains the name of the link and the model where the link is contained.

Returns: The URI of this entity.

ignition::math::Angle VerticalMaxAngle ( ) const

Get the vertical max angle.

Returns: Vertical max angle.

ignition::math::Angle VerticalMinAngle ( ) const

Get the vertical min angle.

Returns: Vertical min angle.

Member Data Documentation

Base_V children

protectedinherited

Children of this entity.

CollisionPtr collisionParent

protectedinherited

This shape's collision parent.

Referenced by ODEPlaneShape::CreatePlane(), BulletPlaneShape::CreatePlane(), ODEPlaneShape::SetAltitude(), SimbodySphereShape::SetRadius(), ODESphereShape::SetRadius(), BulletSphereShape::SetRadius(), ODECylinderShape::SetSize(), SimbodyBoxShape::SetSize(), SimbodyCylinderShape::SetSize(), BulletCylinderShape::SetSize(), ODEBoxShape::SetSize(), and BulletBoxShape::SetSize().

sdf::ElementPtr horzElem

protected

Horizontal SDF element pointer.

std::vector<common::URI> introspectionItems

protectedinherited

All the introspection items regsitered for this.

event::EventT<void()> newLaserScans

protected

New laser scans event.

Referenced by MultiRayShape::ConnectNewLaserScans().

ignition::math::Pose3d offset

protected

Pose offset of all the rays.

BasePtr parent

protectedinherited

Parent of this entity.

sdf::ElementPtr rangeElem

protected

Range SDF element pointer.

sdf::ElementPtr rayElem

protected

Ray SDF element pointer.

std::vector<RayShapePtr> rays

protected

Ray data.

ignition::math::Vector3d scale = ignition::math::Vector3d::One

protectedinherited

This shape's scale;.

sdf::ElementPtr scanElem

protected

Scan SDF element pointer.

sdf::ElementPtr sdf

protectedinherited

The SDF values for this object.

sdf::ElementPtr vertElem

protected

Vertical SDF element pointer.

WorldPtr world

protectedinherited

Pointer to the world.

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

MultiRayShape.hh

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation