Actor class enables GPU based mesh model / skeleton scriptable animation. More...

#include <physics/physics.hh>

Inherits Model.

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...

typedef std::map< std::string, common::SkeletonAnimation * >	SkeletonAnimation_M
	Typedef the skeleton animation map, indexed by their names. More...

Public Member Functions
	Actor (BasePtr _parent)
	Constructor. More...

virtual	~Actor ()
	Destructor. More...

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

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

void	AttachStaticModel (ModelPtr &_model, ignition::math::Pose3d _offset)
	Attach a static model to this model. More...

virtual ignition::math::Box	BoundingBox () const
	Get the size of the bounding box. More...

ignition::math::Box	CollisionBoundingBox () const
	Returns collision bounding box. More...

gazebo::physics::JointPtr	CreateJoint (const std::string &_name, const std::string &_type, physics::LinkPtr _parent, physics::LinkPtr _child)
	Create a joint for this model. More...

gazebo::physics::JointPtr	CreateJoint (sdf::ElementPtr _sdf)
	Create a joint for this model. More...

LinkPtr	CreateLink (const std::string &_name)
	Create a new link for this model. More...

void	DetachStaticModel (const std::string &_model)
	Detach a static model from this model. More...

const ignition::math::Pose3d &	DirtyPose () const
	Returns Entity::dirtyPose. More...

virtual void	FillMsg (msgs::Model &_msg)
	Fill a model message. More...

virtual void	Fini ()
	Finalize the actor. More...

bool	GetAutoDisable () const
	Return the value of the SDF <allow_auto_disable> element. 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...

CollisionPtr	GetChildCollision (const std::string &_name)
	Get a child collision entity, if one exists. More...

unsigned int	GetChildCount () const
	Get the number of children. More...

LinkPtr	GetChildLink (const std::string &_name)
	Get a child linke entity, if one exists. More...

GripperPtr	GetGripper (size_t _index) const
	Get a gripper based on an index. More...

size_t	GetGripperCount () const
	Get the number of grippers in this model. More...

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

JointPtr	GetJoint (const std::string &name)
	Get a joint. More...

JointControllerPtr	GetJointController ()
	Get a handle to the Controller for the joints in this model. More...

unsigned int	GetJointCount () const
	Get the number of joints. More...

const Joint_V &	GetJoints () const
	Get the joints. More...

LinkPtr	GetLink (const std::string &_name="canonical") const
	Get a link by name. More...

const Link_V &	GetLinks () const
	Construct and return a vector of Link's in this model Note this constructs the vector of Link's on the fly, could be costly. More...

std::string	GetName () const
	Return the name of the entity. More...

void	GetNearestEntityBelow (double &_distBelow, std::string &_entityName)
	Get the distance to the nearest entity below (along the Z-axis) this entity. More...

BasePtr	GetParent () const
	Get the parent. More...

int	GetParentId () const
	Return the ID of the parent. More...

ModelPtr	GetParentModel ()
	Get the parent model, if one exists. More...

unsigned int	GetPluginCount () const
	Get the number of plugins this model has. 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 actor. More...

virtual bool	GetSelfCollide () const
	Get whether the links in the actor can collide with each other. More...

unsigned int	GetSensorCount () const
	Get the number of sensors attached to this model. More...

unsigned int	GetType () const
	Get the full type definition. More...

const WorldPtr &	GetWorld () const
	Get the World this object is in. More...

double	GetWorldEnergy () const
	Returns this model's total energy, or sum of Model::GetWorldEnergyPotential() and Model::GetWorldEnergyKinetic(). More...

double	GetWorldEnergyKinetic () const
	Returns sum of the kinetic energies of all links in this model. More...

double	GetWorldEnergyPotential () const
	Returns the potential energy of all links and joint springs in the model. More...

bool	HasType (const EntityType &_t) const
	Returns true if this object's type definition has the given type. More...

virtual void	Init ()
	Initialize the actor. More...

ignition::math::Pose3d	InitialRelativePose () const
	Get the initial relative pose. More...

virtual bool	IsActive () const
	Returns true when actor is playing animation. More...

bool	IsCanonicalLink () const
	A helper function that checks if this is a canonical body. More...

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

bool	IsStatic () const
	Return whether this entity is static. More...

void	Load (sdf::ElementPtr _sdf)
	Load the actor. More...

void	LoadJoints ()
	Load all the joints. More...

void	LoadPlugins ()
	Load all plugins. More...

ModelPtr	NestedModel (const std::string &_name) const
	Get a nested model that is a direct child of this model. More...

const Model_V &	NestedModels () const
	Get all the nested models. More...

bool	operator== (const Base &_ent) const
	Returns true if the entities are the same. More...

void	PlaceOnEntity (const std::string &_entityName)
	Move this entity to be ontop of another entity by name. More...

void	PlaceOnNearestEntityBelow ()
	Move this entity to be ontop of the nearest entity below. More...

virtual void	Play ()
	Start playing the script. More...

void	PluginInfo (const common::URI &_pluginUri, ignition::msgs::Plugin_V &_plugins, bool &_success)
	Get information about plugins in this model or one of its children, according to the given _pluginUri. More...

void	Print (const std::string &_prefix)
	Print this object to screen via gzmsg. More...

void	ProcessMsg (const msgs::Model &_msg)
	Update parameters from a model message. More...

virtual ignition::math::Vector3d	RelativeAngularAccel () const
	Get the angular acceleration of the entity. More...

virtual ignition::math::Vector3d	RelativeAngularVel () const
	Get the angular velocity of the entity. More...

virtual ignition::math::Vector3d	RelativeLinearAccel () const
	Get the linear acceleration of the entity. More...

virtual ignition::math::Vector3d	RelativeLinearVel () const
	Get the linear velocity of the entity. More...

ignition::math::Pose3d	RelativePose () const
	Get the pose of the entity relative to its parent. More...

virtual void	RemoveChild (EntityPtr _child)
	Remove a child. 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...

bool	RemoveJoint (const std::string &_name)
	Remove a joint for this model. More...

void	Reset ()
	Reset the actor. More...

virtual void	Reset (Base::EntityType _resetType)
	Calls recursive Reset on one of the Base::EntityType's. More...

void	ResetCustomTrajectory ()
	Reset custom trajectory of the actor. More...

void	ResetPhysicsStates ()
	Reset the velocity, acceleration, force and torque of all child links. More...

ignition::math::Vector3d	Scale () const
	Get the scale of model. More...

double	ScriptTime () const
	Get the current script time. More...

std::vector< std::string >	SensorScopedName (const std::string &_name) const
	Get scoped sensor name(s) in the model that matches sensor name. More...

void	SetAngularAccel (const ignition::math::Vector3d &_vel) GAZEBO_DEPRECATED(9.0)
	Set the angular acceleration of the model, and all its links. More...

void	SetAngularVel (const ignition::math::Vector3d &_vel)
	Set the angular velocity of the model, and all its links. More...

void	SetAnimation (const common::PoseAnimationPtr &_anim, boost::function< void()> _onComplete)
	Set an animation for this entity. More...

void	SetAnimation (common::PoseAnimationPtr _anim)
	Set an animation for this entity. More...

void	SetAutoDisable (bool _disable)
	Allow the model the auto disable. More...

void	SetCanonicalLink (bool _value)
	Set to true if this entity is a canonical link for a model. More...

void	SetCollideMode (const std::string &_mode)
	This is not implemented in Link, which means this function doesn't do anything. More...

void	SetCustomTrajectory (TrajectoryInfoPtr &_trajInfo)
	Set a custom trajectory for the actor, using one of the existing animations. More...

void	SetEnabled (bool _enabled)
	Enable all the links in all the models. More...

void	SetGravityMode (const bool &_value)
	Set the gravity mode of the model. More...

void	SetInitialRelativePose (const ignition::math::Pose3d &_pose)
	Set the initial pose. More...

void	SetJointAnimation (const std::map< std::string, common::NumericAnimationPtr > &_anims, boost::function< void()> _onComplete=NULL)
	Joint Animation. More...

void	SetJointPosition (const std::string &_jointName, double _position, int _index=0)
	Set the positions of a Joint by name. More...

void	SetJointPositions (const std::map< std::string, double > &_jointPositions)
	Set the positions of a set of joints. More...

void	SetLaserRetro (const float _retro)
	Set the laser retro reflectiveness of the model. More...

void	SetLinearAccel (const ignition::math::Vector3d &_vel) GAZEBO_DEPRECATED(9.0)
	Set the linear acceleration of the model, and all its links. More...

void	SetLinearVel (const ignition::math::Vector3d &_vel)
	Set the linear velocity of the model, and all its links. More...

void	SetLinkWorldPose (const ignition::math::Pose3d &_pose, std::string _linkName)
	Set the Pose of the entire Model by specifying desired Pose of a Link within the Model. More...

void	SetLinkWorldPose (const ignition::math::Pose3d &_pose, const LinkPtr &_link)
	Set the Pose of the entire Model by specifying desired Pose of a Link within the Model. More...

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

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

void	SetRelativePose (const ignition::math::Pose3d &_pose, const bool _notify=true, const bool _publish=true)
	Set the pose of the entity relative to its parent. More...

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

void	SetScale (const ignition::math::Vector3d &_scale, const bool _publish=false)
	Set the scale of model. More...

void	SetScriptTime (const double _time)
	Set the current script time. More...

virtual bool	SetSelected (bool _show)
	Set whether this entity has been selected by the user through the gui. More...

virtual void	SetSelfCollide (bool _selfCollide)
	Override set self collide method to make it impossible to set it to true for actors. More...

void	SetState (const ModelState &_state)
	Set the current model state. More...

void	SetStatic (const bool &_static)
	Set whether this entity is static: immovable. More...

virtual void	SetWindMode (const bool _enabled)
	Override set wind mode method to make it impossible to set it to true for actors. More...

void	SetWorld (const WorldPtr &_newWorld)
	Set the world this object belongs to. More...

void	SetWorldPose (const ignition::math::Pose3d &_pose, const bool _notify=true, const bool _publish=true)
	Set the world pose of the entity. More...

void	SetWorldTwist (const ignition::math::Vector3d &_linear, const ignition::math::Vector3d &_angular, const bool _updateChildren=true)
	Set angular and linear rates of an physics::Entity. More...

boost::shared_ptr< Model >	shared_from_this ()
	Allow Model class to share itself as a boost shared_ptr. More...

const SkeletonAnimation_M &	SkeletonAnimations () const
	Returns a dictionary of all the skeleton animations associated with the actor. More...

virtual void	Stop ()
	Stop playing the script. More...

virtual void	StopAnimation ()
	Stop the current animations. More...

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

virtual const sdf::ElementPtr	UnscaledSDF ()

void	Update ()
	Update the actor. More...

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

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

virtual bool	WindMode () const
	Get whether the links in the actor are affected by wind. More...

virtual ignition::math::Vector3d	WorldAngularAccel () const
	Get the angular acceleration of the entity in the world frame. More...

virtual ignition::math::Vector3d	WorldAngularVel () const
	Get the angular velocity of the entity in the world frame. More...

virtual ignition::math::Vector3d	WorldLinearAccel () const
	Get the linear acceleration of the entity in the world frame. More...

virtual ignition::math::Vector3d	WorldLinearVel () const
	Get the linear velocity of the entity in the world frame. More...

virtual const ignition::math::Pose3d &	WorldPose () const
	Get the absolute pose of the entity. More...

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

virtual void	OnPoseChange ()
	Callback when the pose of the model has been changed. More...

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

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

Protected Attributes
bool	active
	True if the actor is being updated. More...

common::PoseAnimationPtr	animation
	Current pose animation. More...

event::ConnectionPtr	animationConnection
	Connection used to update an animation. More...

ignition::math::Pose3d	animationStartPose
	Start pose of an animation. More...

std::vector< ModelPtr >	attachedModels
	used by Model::AttachStaticModel More...

std::vector < ignition::math::Pose3d >	attachedModelsOffset
	used by Model::AttachStaticModel More...

bool	autoStart
	True if the actor should start running automatically, otherwise it will only start once Play is called. More...

transport::PublisherPtr	bonePosePub
	Publisher to send bone info. More...

Base_V	children
	Children of this entity. More...

std::vector< event::ConnectionPtr >	connections
	All our event connections. More...

ignition::math::Pose3d	dirtyPose
	The pose set by a physics engine. More...

std::map< std::string, bool >	interpolateX
	Map of animation types (the same name as in `skelAnimation` and `skelNodesMap`) and whether they should be interpolated along X. More...

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

transport::PublisherPtr	jointPub
	Publisher for joint info. More...

ignition::math::Vector3d	lastPos
	Last position of the actor. More...

unsigned int	lastTraj
	Id of the last trajectory. More...

bool	loop
	True if the animation should loop. More...

LinkPtr	mainLink
	Pointer to the actor's canonical link. More...

const common::Mesh *	mesh = nullptr
	Pointer to the actor's mesh. More...

transport::NodePtr	node
	Communication node. More...

ignition::transport::Node	nodeIgn
	Ignition communication node. More...

BasePtr	parent
	Parent of this entity. More...

EntityPtr	parentEntity
	A helper that prevents numerous dynamic_casts. More...

double	pathLength
	Length of the actor's path. More...

common::Time	playStartTime
	Time when the animation was started. More...

common::Time	prevAnimationTime
	Previous time an animation was updated. More...

common::Time	prevFrameTime
	Time of the previous frame. More...

transport::PublisherPtr	requestPub
	Request publisher. More...

ignition::transport::Node::Publisher	requestPubIgn
	Request publisher. More...

ignition::math::Vector3d	scale
	Scale of the entity. More...

double	scriptLength
	Total time length of the script, in seconds. More...

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

SkeletonAnimation_M	skelAnimation
	Map of skeleton animations, indexed by their names. More...

common::Skeleton *	skeleton = nullptr
	The actor's skeleton. More...

std::map< std::string, std::map< std::string, std::string > >	skelNodesMap
	Skeleton to node map: More...

std::string	skinFile
	Filename for the skin. More...

double	skinScale
	Scaling factor to apply to the skin. More...

double	startDelay
	Time to wait before starting the script. More...

std::map< unsigned int, common::PoseAnimation * >	trajectories
	Map of all the trajectories (pose animations) and their indices. More...

std::vector< TrajectoryInfo >	trajInfo
	A vector of trajectory information, which contains information such as their durations, uniquely identifiable by their IDs. More...

transport::PublisherPtr	visPub
	Visual publisher. More...

ignition::transport::Node::Publisher	visPubIgn
	Visual publisher. More...

uint32_t	visualId
	ID for the visual representing the skin. More...

msgs::Visual *	visualMsg
	Visual message container. More...

std::string	visualName
	Name of the visual representing the skin. More...

WorldPtr	world
	Pointer to the world. More...

ignition::math::Pose3d	worldPose
	World pose of the entity. More...

Detailed Description

Actor class enables GPU based mesh model / skeleton scriptable animation.

Member Typedef Documentation

typedef std::map<std::string, common::SkeletonAnimation *> SkeletonAnimation_M

Typedef the skeleton animation map, indexed by their names.

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

Actor ( BasePtr _parent )

explicit

Constructor.

Parameters

[in] _parent Parent object

virtual ~Actor ( )

virtual

Destructor.

Member Function Documentation

void AddChild ( BasePtr _child )

inherited

Add a child to this entity.

Parameters

[in] _child Child entity.

void AddType ( EntityType _type )

inherited

Add a type specifier.

Parameters

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

void AttachStaticModel	(	ModelPtr &	_model,
		ignition::math::Pose3d	_offset
	)

inherited

Attach a static model to this model.

This function takes as input a static Model, which is a Model that has been marked as static (no physics simulation), and attaches it to this Model with a given offset.

This function is useful when you want to simulate a grasp of a static object, or move a static object around using a dynamic model.

If you are in doubt, do not use this function.

Parameters

[in]	_model	Pointer to the static model.
[in]	_offset	Offset, relative to this Model, to place _model.

virtual ignition::math::Box BoundingBox ( ) const

virtualinherited

Get the size of the bounding box.

Returns: The bounding box.

Reimplemented from Entity.

ignition::math::Box CollisionBoundingBox ( ) const

inherited

Returns collision bounding box.

Returns: Collsion bounding box.

void ComputeScopedName ( )

protectedinherited

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

See Also: Base::GetScopedName

gazebo::physics::JointPtr CreateJoint	(	const std::string &	_name,
		const std::string &	_type,
		physics::LinkPtr	_parent,
		physics::LinkPtr	_child
	)

inherited

Create a joint for this model.

Parameters

[in]	_name	name of joint
[in]	_type	type of joint
[in]	_parent	parent link of joint
[in]	_child	child link of joint

Returns: a JointPtr to the new joint created, returns NULL JointPtr() if joint by name _name already exists.

Exceptions

common::Exception When _type is not recognized

gazebo::physics::JointPtr CreateJoint ( sdf::ElementPtr _sdf )

inherited

Create a joint for this model.

Parameters

[in] _sdf SDF parameters for <joint>

Returns: a JointPtr to the new joint created, returns NULL JointPtr() if joint by name _name already exists.

Exceptions

common::Exception When _type is not recognized

LinkPtr CreateLink ( const std::string & _name )

inherited

Create a new link for this model.

Parameters

[in] _name name of the new link

Returns: a LinkPtr to the new link created, returns NULL if link _name already exists.

void DetachStaticModel ( const std::string & _model )

inherited

Detach a static model from this model.

Parameters

[in] _model Name of an attached static model to remove.

See Also: Model::AttachStaticModel.

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

inherited

Returns Entity::dirtyPose.

The dirty pose is the pose set by the physics engine before it's value is propagated to the rest of the simulator.

Returns: The dirty pose of the entity.

virtual void FillMsg ( msgs::Model & _msg )

virtualinherited

Fill a model message.

Parameters

[in] _msg Message to fill using this model's data.

virtual void Fini ( )

virtual

Finalize the actor.

Reimplemented from Model.

bool GetAutoDisable ( ) const

inherited

Return the value of the SDF <allow_auto_disable> element.

Returns: True if auto disable is allowed for this model.

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

CollisionPtr GetChildCollision ( const std::string & _name )

inherited

Get a child collision entity, if one exists.

Parameters

[in] _name Name of the child collision object.

Returns: Pointer to the Collision object, or NULL if not found.

unsigned int GetChildCount ( ) const

inherited

Get the number of children.

Returns: The number of children.

LinkPtr GetChildLink ( const std::string & _name )

inherited

Get a child linke entity, if one exists.

Parameters

[in] _name Name of the child Link object.

Returns: Pointer to the Link object, or NULL if not found.

GripperPtr GetGripper ( size_t _index ) const

inherited

Get a gripper based on an index.

Returns: A pointer to a Gripper. Null if the _index is invalid.

size_t GetGripperCount ( ) const

inherited

Get the number of grippers in this model.

Returns: Size of this->grippers array.

See Also: Model::GetGripper()

uint32_t GetId ( ) const

inherited

Return the ID of this entity.

This id is unique.

Returns: Integer ID.

JointPtr GetJoint ( const std::string & name )

inherited

Get a joint.

Parameters

name	The name of the joint, specified in the world file

Returns: Pointer to the joint

JointControllerPtr GetJointController ( )

inherited

Get a handle to the Controller for the joints in this model.

Returns: A handle to the Controller for the joints in this model.

unsigned int GetJointCount ( ) const

inherited

Get the number of joints.

Returns: Get the number of joints.

const Joint_V& GetJoints ( ) const

inherited

Get the joints.

Returns: Vector of joints.

LinkPtr GetLink ( const std::string & _name = "canonical" ) const

inherited

Get a link by name.

Parameters

[in] _name Name of the link to get.

Returns: Pointer to the link, NULL if the name is invalid.

const Link_V& GetLinks ( ) const

inherited

Construct and return a vector of Link's in this model Note this constructs the vector of Link's on the fly, could be costly.

Returns: a vector of Link's in this model

std::string GetName ( ) const

inherited

Return the name of the entity.

Returns: Name of the entity.

void GetNearestEntityBelow	(	double &	_distBelow,
		std::string &	_entityName
	)

inherited

Get the distance to the nearest entity below (along the Z-axis) this entity.

Parameters

[out]	_distBelow	The distance to the nearest entity below.
[out]	_entityName	The name of the nearest entity below.

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.

ModelPtr GetParentModel ( )

inherited

Get the parent model, if one exists.

Returns: Pointer to a model, or NULL if no parent model exists.

unsigned int GetPluginCount ( ) const

inherited

Get the number of plugins this model has.

Returns: Number of plugins associated with this model.

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.

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 ( )

virtual

Get the SDF values for the actor.

Returns: Pointer to the SDF values.

Reimplemented from Model.

virtual bool GetSelfCollide ( ) const

virtual

Get whether the links in the actor can collide with each other.

This is always false for actors.

Returns: False, because actors can't self-collide.

See Also: SetSelfCollide()

Reimplemented from Model.

unsigned int GetSensorCount ( ) const

inherited

Get the number of sensors attached to this model.

This will count all the sensors attached to all the links.

Returns: Number of sensors.

unsigned int GetType ( ) const

inherited

Get the full type definition.

Returns: The full type definition.

const WorldPtr& GetWorld ( ) const

inherited

Get the World this object is in.

Returns: The World this object is part of.

double GetWorldEnergy ( ) const

inherited

Returns this model's total energy, or sum of Model::GetWorldEnergyPotential() and Model::GetWorldEnergyKinetic().

Returns: this link's total energy

double GetWorldEnergyKinetic ( ) const

inherited

Returns sum of the kinetic energies of all links in this model.

Computed using link's CoG velocity in the inertial (world) frame.

Returns: this link's kinetic energy

double GetWorldEnergyPotential ( ) const

inherited

Returns the potential energy of all links and joint springs in the model.

Returns: this link's potential energy,

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

Initialize the actor.

Reimplemented from Model.

ignition::math::Pose3d InitialRelativePose ( ) const

inherited

Get the initial relative pose.

Returns: The initial relative pose.

virtual bool IsActive ( ) const

virtual

Returns true when actor is playing animation.

Returns: True if animation is being played.

bool IsCanonicalLink ( ) const

inlineinherited

A helper function that checks if this is a canonical body.

Returns: True if the link is canonical.

bool IsSelected ( ) const

inherited

True if the entity is selected by the user.

Returns: True if the entity is selected.

bool IsStatic ( ) const

inherited

Return whether this entity is static.

Returns: True if static.

void Load ( sdf::ElementPtr _sdf )

virtual

Load the actor.

Parameters

[in] _sdf SDF parameters

Reimplemented from Entity.

void LoadJoints ( )

inherited

Load all the joints.

void LoadPlugins ( )

inherited

Load all plugins.

Load all plugins specified in the SDF for the model.

ModelPtr NestedModel ( const std::string & _name ) const

inherited

Get a nested model that is a direct child of this model.

Parameters

[in] _name Name of the child model to get.

Returns: Pointer to the model, NULL if the name is invalid.

const Model_V& NestedModels ( ) const

inherited

Get all the nested models.

Returns: a vector of Model's in this model

virtual void OnPoseChange ( )

protectedvirtualinherited

Callback when the pose of the model has been changed.

Implements Entity.

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 PlaceOnEntity ( const std::string & _entityName )

inherited

Move this entity to be ontop of another entity by name.

Parameters

[in] _entityName Name of the Entity this Entity should be ontop of.

void PlaceOnNearestEntityBelow ( )

inherited

Move this entity to be ontop of the nearest entity below.

virtual void Play ( )

virtual

Start playing the script.

void PluginInfo	(	const common::URI &	_pluginUri,
		ignition::msgs::Plugin_V &	_plugins,
		bool &	_success
	)

inherited

Get information about plugins in this model or one of its children, according to the given _pluginUri.

Some accepted URI patterns:

Info about a specific model plugin in this model: data://world/<world_name>/model/<this_name>/plugin/<plugin_name>
Info about all model plugins in this model (empty plugin name): data://world/<world_name>/model/<this_name>/plugin
Info about a model plugin in a nested model: data://world/<world_name>/model/<this_name>/model/ <nested_model_name>/plugin/<plugin_name>

Parameters

[in]	_pluginUri	URI for the desired plugin(s).
[out]	_plugins	Message containing vector of plugins.
[out]	_success	True if the info was successfully obtained.

void Print ( const std::string & _prefix )

inherited

Print this object to screen via gzmsg.

Parameters

[in] _prefix Usually a set of spaces.

void ProcessMsg ( const msgs::Model & _msg )

inherited

Update parameters from a model message.

Parameters

[in] _msg Message to process.

virtual void RegisterIntrospectionItems ( )

protectedvirtualinherited

Register items in the introspection service.

Reimplemented from Base.

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

virtualinherited

Get the angular acceleration of the entity.

Returns: ignition::math::Vector3d, set to 0, 0, 0 if the model has no body.

Reimplemented from Entity.

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

virtualinherited

Get the angular velocity of the entity.

Returns: ignition::math::Vector3d, set to 0, 0, 0 if the model has no body.

Reimplemented from Entity.

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

virtualinherited

Get the linear acceleration of the entity.

Returns: ignition::math::Vector3d, set to 0, 0, 0 if the model has no body.

Reimplemented from Entity.

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

virtualinherited

Get the linear velocity of the entity.

Returns: ignition::math::Vector3d, set to 0, 0, 0 if the model has no body.

Reimplemented from Entity.

ignition::math::Pose3d RelativePose ( ) const

inherited

Get the pose of the entity relative to its parent.

Returns: The pose of the entity relative to its parent.

virtual void RemoveChild ( EntityPtr _child )

virtualinherited

Remove a child.

Parameters

[in] _child Remove a child entity.

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.

bool RemoveJoint ( const std::string & _name )

inherited

Remove a joint for this model.

Parameters

[in] _name name of joint

Returns: true if successful, false if not.

void Reset ( )

virtual

Reset the actor.

Reimplemented from Entity.

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

void ResetCustomTrajectory ( )

Reset custom trajectory of the actor.

See Also: SetCustomTrajectory

void ResetPhysicsStates ( )

inherited

Reset the velocity, acceleration, force and torque of all child links.

ignition::math::Vector3d Scale ( ) const

inherited

Get the scale of model.

Returns: Scale of the model.

See Also: void SetScale(const ignition::math::Vector3d &_scale, const bool _publish = false)

double ScriptTime ( ) const

Get the current script time.

Returns: _time Time in seconds from the beginning of the current script loop.

See Also: SetScriptTime

std::vector<std::string> SensorScopedName ( const std::string & _name ) const

inherited

Get scoped sensor name(s) in the model that matches sensor name.

Get the names of sensors in the model where sensor name matches the user provided argument.

Note: A Model does not manage or maintain a pointer to a sensors::Sensor. Access to a Sensor object is accomplished through the sensors::SensorManager. This was done to separate the physics engine from the sensor engine.

Parameters

[in] _name Unscoped sensor name.

Returns: The scoped name of the sensor(s), or empty list if not found.

void SetAngularAccel ( const ignition::math::Vector3d & _vel )

inherited

Set the angular acceleration of the model, and all its links.

Parameters

[in] _vel The new angular acceleration

Deprecated:: acceleration should be achieved by applying a force.

void SetAngularVel ( const ignition::math::Vector3d & _vel )

inherited

Set the angular velocity of the model, and all its links.

Parameters

[in] _vel The new angular velocity.

void SetAnimation	(	const common::PoseAnimationPtr &	_anim,
		boost::function< void()>	_onComplete
	)

inherited

Set an animation for this entity.

Parameters

[in]	_anim	Pose animation.
[in]	_onComplete	Callback for when the animation completes.

void SetAnimation ( common::PoseAnimationPtr _anim )

inherited

Set an animation for this entity.

Parameters

[in] _anim Pose animation.

void SetAutoDisable ( bool _disable )

inherited

Allow the model the auto disable.

This is ignored if the model has joints.

Parameters

[in] _disable If true, the model is allowed to auto disable.

void SetCanonicalLink ( bool _value )

inherited

Set to true if this entity is a canonical link for a model.

Parameters

[in] _value True if the link is canonical.

void SetCollideMode ( const std::string & _mode )

inherited

This is not implemented in Link, which means this function doesn't do anything.

Set the collide mode of the model.

Parameters

[in] _mode The collision mode

void SetCustomTrajectory ( TrajectoryInfoPtr & _trajInfo )

Set a custom trajectory for the actor, using one of the existing animations.

This will override any trajectories previously defined. When a custom trajectory is defined, the script time must be set with SetScriptTime in order to play the animation.

Parameters

[in] _trajInfo Information about custom trajectory.

See Also: ResetCustomTrajectory, SetScriptTime

void SetEnabled ( bool _enabled )

inherited

Enable all the links in all the models.

Parameters

[in] _enabled True to enable all the links.

void SetGravityMode ( const bool & _value )

inherited

Set the gravity mode of the model.

Parameters

[in] _value True to enable gravity.

void SetInitialRelativePose ( const ignition::math::Pose3d & _pose )

inherited

Set the initial pose.

Parameters

[in] _pose The initial pose.

void SetJointAnimation	(	const std::map< std::string, common::NumericAnimationPtr > &	_anims,
		boost::function< void()>	_onComplete = `NULL`
	)

inherited

Joint Animation.

Parameters

[in]	_anim	Map of joint names to their position animation.
[in]	_onComplete	Callback function for when the animation completes.

void SetJointPosition	(	const std::string &	_jointName,
		double	_position,
		int	_index = `0`
	)

inherited

Set the positions of a Joint by name.

See Also: JointController::SetJointPosition

Parameters

[in]	_jointName	Name of the joint to set.
[in]	_position	Position to set the joint to.

void SetJointPositions ( const std::map< std::string, double > & _jointPositions )

inherited

Set the positions of a set of joints.

See Also: JointController::SetJointPositions.

Parameters

[in] _jointPositions Map of joint names to their positions.

void SetLaserRetro ( const float _retro )

inherited

Set the laser retro reflectiveness of the model.

Parameters

[in] _retro Retro reflectance value.

void SetLinearAccel ( const ignition::math::Vector3d & _vel )

inherited

Set the linear acceleration of the model, and all its links.

Parameters

[in] _vel The new linear acceleration.

Deprecated:: acceleration should be achieved by applying a force.

void SetLinearVel ( const ignition::math::Vector3d & _vel )

inherited

Set the linear velocity of the model, and all its links.

Parameters

[in] _vel The new linear velocity.

void SetLinkWorldPose	(	const ignition::math::Pose3d &	_pose,
		std::string	_linkName
	)

inherited

Set the Pose of the entire Model by specifying desired Pose of a Link within the Model.

Doing so, keeps the configuration of the Model unchanged, i.e. all Joint angles are unchanged.

Parameters

[in]	_pose	Pose to set the link to.
[in]	_linkName	Name of the link to set.

void SetLinkWorldPose	(	const ignition::math::Pose3d &	_pose,
		const LinkPtr &	_link
	)

inherited

Set the Pose of the entire Model by specifying desired Pose of a Link within the Model.

Doing so, keeps the configuration of the Model unchanged, i.e. all Joint angles are unchanged.

Parameters

[in]	_pose	Pose to set the link to.
[in]	_link	Pointer to the link to set.

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

virtualinherited

Set the name of the entity.

Parameters

[in] _name The new name.

Reimplemented from Base.

void SetParent ( BasePtr _parent )

inherited

Set the parent.

Parameters

[in] _parent Parent object.

void SetRelativePose	(	const ignition::math::Pose3d &	_pose,
		const bool	_notify = `true`,
		const bool	_publish = `true`
	)

inherited

Set the pose of the entity relative to its parent.

Parameters

[in]	_pose	The new pose.
[in]	_notify	True = tell children of the pose change.
[in]	_publish	True to publish the pose.

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.

void SetScale	(	const ignition::math::Vector3d &	_scale,
		const bool	_publish = `false`
	)

inherited

Set the scale of model.

Parameters

[in]	_scale	Scale to set the model to.
[in]	_publish	True to publish a message for the client with the new scale.

See Also: ignition::math::Vector3d Scale() const

void SetScriptTime ( const double _time )

Set the current script time.

Parameters

[in] _time Time in seconds from the beginning of the current script loop.

See Also: ScriptTime

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.

virtual void SetSelfCollide ( bool _selfCollide )

virtual

Override set self collide method to make it impossible to set it to true for actors.

Parameters

[in] _selfCollide Whether this can collide with itself, will be false for actors regardless of the input.

See Also: GetSelfCollide()

Reimplemented from Model.

void SetState ( const ModelState & _state )

inherited

Set the current model state.

Parameters

[in] _state State to set the model to.

void SetStatic ( const bool & _static )

inherited

Set whether this entity is static: immovable.

Parameters

[in] _static True = static.

virtual void SetWindMode ( const bool _enabled )

virtual

Override set wind mode method to make it impossible to set it to true for actors.

Parameters

[in] _enabled Whether this is affected by wind, will be false for actors regardless of the input.

See Also: GetWindMode()

Reimplemented from Model.

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.

void SetWorldPose	(	const ignition::math::Pose3d &	_pose,
		const bool	_notify = `true`,
		const bool	_publish = `true`
	)

inherited

Set the world pose of the entity.

Parameters

[in]	_pose	The new world pose.
[in]	_notify	True = tell children of the pose change.
[in]	_publish	True to publish the pose.

void SetWorldTwist	(	const ignition::math::Vector3d &	_linear,
		const ignition::math::Vector3d &	_angular,
		const bool	_updateChildren = `true`
	)

inherited

Set angular and linear rates of an physics::Entity.

Parameters

[in]	_linear	Linear twist.
[in]	_angular	Angular twist.
[in]	_updateChildren	True to pass this update to child entities.

boost::shared_ptr<Model> shared_from_this ( )

inherited

Allow Model class to share itself as a boost shared_ptr.

Returns: a shared pointer to itself

const SkeletonAnimation_M& SkeletonAnimations ( ) const

Returns a dictionary of all the skeleton animations associated with the actor.

Returns: A map of SkeletonAnimation, indexed by their name.

virtual void Stop ( )

virtual

Stop playing the script.

virtual void StopAnimation ( )

virtualinherited

Stop the current animations.

Reimplemented from Entity.

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.

virtual const sdf::ElementPtr UnscaledSDF ( )

virtualinherited

void Update ( )

virtual

Update the actor.

Reimplemented from Base.

virtual void UpdateParameters ( sdf::ElementPtr _sdf )

virtual

Update the parameters using new sdf values.

Parameters

[in] _sdf SDF values to update from.

Reimplemented from Model.

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.

virtual bool WindMode ( ) const

virtual

Get whether the links in the actor are affected by wind.

This is always false for actors.

Returns: False, because forces can't be applied to actors.

See Also: SetWindMode()

Reimplemented from Model.

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

virtualinherited

Get the angular acceleration of the entity in the world frame.

Returns: ignition::math::Vector3d, set to 0, 0, 0 if the model has no body.

Reimplemented from Entity.

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

virtualinherited

Get the angular velocity of the entity in the world frame.

Returns: ignition::math::Vector3, set to 0, 0, 0 if the model has no body.

Reimplemented from Entity.

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

virtualinherited

Get the linear acceleration of the entity in the world frame.

Returns: ignition::math::Vector3d, set to 0, 0, 0 if the model has no body.

Reimplemented from Entity.

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

virtualinherited

Get the linear velocity of the entity in the world frame.

Returns: ignition::math::Vector3d, set to 0, 0, 0 if the model has no body.

Reimplemented from Entity.

virtual const ignition::math::Pose3d& WorldPose ( ) const

inlinevirtualinherited

Get the absolute pose of the entity.

Returns: The absolute pose of the entity.

Reimplemented in Collision, and Light.

References Entity::worldPose.

Member Data Documentation

bool active

protected

True if the actor is being updated.

common::PoseAnimationPtr animation

protectedinherited

Current pose animation.

event::ConnectionPtr animationConnection

protectedinherited

Connection used to update an animation.

ignition::math::Pose3d animationStartPose

protectedinherited

Start pose of an animation.

std::vector<ModelPtr> attachedModels

protectedinherited

used by Model::AttachStaticModel

std::vector<ignition::math::Pose3d> attachedModelsOffset

protectedinherited

used by Model::AttachStaticModel

bool autoStart

protected

True if the actor should start running automatically, otherwise it will only start once Play is called.

transport::PublisherPtr bonePosePub

protected

Publisher to send bone info.

Base_V children

protectedinherited

Children of this entity.

std::vector<event::ConnectionPtr> connections

protectedinherited

All our event connections.

ignition::math::Pose3d dirtyPose

protectedinherited

The pose set by a physics engine.

std::map<std::string, bool> interpolateX

protected

Map of animation types (the same name as in skelAnimation and skelNodesMap) and whether they should be interpolated along X.

See Also: skelAnimation; skelNodesMap

std::vector<common::URI> introspectionItems

protectedinherited

All the introspection items regsitered for this.

transport::PublisherPtr jointPub

protectedinherited

Publisher for joint info.

ignition::math::Vector3d lastPos

protected

Last position of the actor.

unsigned int lastTraj

protected

Id of the last trajectory.

bool loop

protected

True if the animation should loop.

LinkPtr mainLink

protected

Pointer to the actor's canonical link.

const common::Mesh* mesh = nullptr

protected

Pointer to the actor's mesh.

transport::NodePtr node

protectedinherited

Communication node.

ignition::transport::Node nodeIgn

protectedinherited

Ignition communication node.

BasePtr parent

protectedinherited

Parent of this entity.

EntityPtr parentEntity

protectedinherited

A helper that prevents numerous dynamic_casts.

double pathLength

protected

Length of the actor's path.

common::Time playStartTime

protected

Time when the animation was started.

common::Time prevAnimationTime

protectedinherited

Previous time an animation was updated.

common::Time prevFrameTime

protected

Time of the previous frame.

transport::PublisherPtr requestPub

protectedinherited

Request publisher.

ignition::transport::Node::Publisher requestPubIgn

protectedinherited

Request publisher.

ignition::math::Vector3d scale

protectedinherited

Scale of the entity.

double scriptLength

protected

Total time length of the script, in seconds.

sdf::ElementPtr sdf

protectedinherited

The SDF values for this object.

SkeletonAnimation_M skelAnimation

protected

Map of skeleton animations, indexed by their names.

The names match those in interpolateX and skelNodesMap.

See Also: interpolateX; skelNodesMap

common::Skeleton* skeleton = nullptr

protected

The actor's skeleton.

std::map<std::string, std::map<std::string, std::string> > skelNodesMap

protected

Skeleton to node map:

Skeleton animation name (should match those in skelAnimation and interpolateX)
Map holding:
- Skeleton node names from skin
- Skeleton node names from animation
  See Also
  interpolateX
  
  skelAnimation

std::string skinFile

protected

Filename for the skin.

double skinScale

protected

Scaling factor to apply to the skin.

double startDelay

protected

Time to wait before starting the script.

If running in a loop, this time will be waited before starting each cycle.

std::map<unsigned int, common::PoseAnimation *> trajectories

protected

Map of all the trajectories (pose animations) and their indices.

The indices here match the order in trajInfo.

See Also: trajInfo

std::vector<TrajectoryInfo> trajInfo

protected

A vector of trajectory information, which contains information such as their durations, uniquely identifiable by their IDs.

The IDs here match those on the trajectories vector.

See Also: trajectories

transport::PublisherPtr visPub

protectedinherited

Visual publisher.

ignition::transport::Node::Publisher visPubIgn

protectedinherited

Visual publisher.

uint32_t visualId

protected

ID for the visual representing the skin.

msgs::Visual* visualMsg

protectedinherited

Visual message container.

std::string visualName

protected

Name of the visual representing the skin.

WorldPtr world

protectedinherited

Pointer to the world.

ignition::math::Pose3d worldPose

mutableprotectedinherited

World pose of the entity.

Referenced by Entity::WorldPose().

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

Actor.hh

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation