DARTLink Class Reference

DART Link class. More...

#include <DARTLink.hh>

Inherits Link.

Public Types

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,
  FIXED_JOINT = 0x00004000, 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

 DARTLink (EntityPtr _parent)
 Constructor. More...
 
virtual ~DARTLink ()
 Destructor. More...
 
void AddChild (BasePtr _child)
 Add a child to this entity. More...
 
void AddChildJoint (JointPtr _joint)
 Joints that have this Link as a parent Link. More...
 
void AddDARTChildJoint (DARTJointPtr _dartChildJoint)
 Set child joint of this link. More...
 
virtual void AddForce (const math::Vector3 &_force)
 Add a force to the body. More...
 
virtual void AddForceAtRelativePosition (const math::Vector3 &_force, const math::Vector3 &_relpos)
 Add a force to the body at position expressed to the body's own frame of reference. More...
 
virtual void AddForceAtWorldPosition (const math::Vector3 &_force, const math::Vector3 &_pos)
 Add a force to the body using a global position. More...
 
virtual void AddLinkForce (const math::Vector3 &_force, const math::Vector3 &_offset=math::Vector3::Zero)
 Add a force expressed in the link frame. More...
 
void AddParentJoint (JointPtr _joint)
 Joints that have this Link as a child Link. More...
 
virtual void AddRelativeForce (const math::Vector3 &_force)
 Add a force to the body, components are relative to the body's own frame of reference. More...
 
virtual void AddRelativeTorque (const math::Vector3 &_torque)
 Add a torque to the body, components are relative to the body's own frame of reference. More...
 
virtual void AddTorque (const math::Vector3 &_torque)
 Add a torque to the body. More...
 
void AddType (EntityType _type)
 Add a type specifier. More...
 
void AttachStaticModel (ModelPtr &_model, const math::Pose &_offset)
 Attach a static model to this link. More...
 
common::BatteryPtr Battery (const std::string &_name) const
 Get a battery by name. More...
 
common::BatteryPtr Battery (const size_t _index) const
 Get a battery based on an index. More...
 
size_t BatteryCount () const
 Get the number of batteries in this link. More...
 
template<typename T >
event::ConnectionPtr ConnectEnabled (T _subscriber)
 Connect to the add entity signal. More...
 
void DetachAllStaticModels ()
 Detach all static models from this link. More...
 
void DetachStaticModel (const std::string &_modelName)
 Detach a static model from this link. More...
 
void DisconnectEnabled (event::ConnectionPtr &_conn)
 Disconnect to the add entity signal. More...
 
void FillMsg (msgs::Link &_msg)
 Fill a link message. More...
 
bool FindAllConnectedLinksHelper (const LinkPtr &_originalParentLink, Link_V &_connectedLinks, bool _fistLink=false)
 Helper function to find all connected links of a link based on parent/child relations of joints. More...
 
virtual void Fini ()
 Finalize the entity. More...
 
double GetAngularDamping () const
 Get the angular damping factor. More...
 
virtual math::Box GetBoundingBox () const
 Get the bounding box for the link and all the child elements. 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...
 
Joint_V GetChildJoints () const
 Get the child joints. More...
 
Link_V GetChildJointsLinks () const
 Returns a vector of children Links connected by joints. More...
 
LinkPtr GetChildLink (const std::string &_name)
 Get a child linke entity, if one exists. More...
 
CollisionPtr GetCollision (const std::string &_name)
 Get a child collision by name. More...
 
CollisionPtr GetCollision (unsigned int _index) const
 Get a child collision by index. More...
 
math::Box GetCollisionBoundingBox () const
 Returns collision bounding box. More...
 
Collision_V GetCollisions () const
 Get all the child collisions. More...
 
dart::dynamics::BodyNode * GetDARTBodyNode () const
 Get pointer to DART BodyNode associated with this link. More...
 
DARTModelPtr GetDARTModel () const
 Get pointer to DART Model associated with this link. More...
 
DARTPhysicsPtr GetDARTPhysics (void) const
 Get pointer to DART Physics engine associated with this link. More...
 
dart::simulation::World * GetDARTWorld (void) const
 Get pointer to DART World associated with this link. More...
 
const math::PoseGetDirtyPose () const
 Returns Entity::dirtyPose. More...
 
virtual bool GetEnabled () const
 Get whether this body is enabled in the physics engine. More...
 
virtual bool GetGravityMode () const
 Get the gravity mode. More...
 
uint32_t GetId () const
 Return the ID of this entity. More...
 
InertialPtr GetInertial () const
 Get the inertia of the link. More...
 
math::Pose GetInitialRelativePose () const
 Get the initial relative pose. More...
 
virtual bool GetKinematic () const
 Implement this function. More...
 
double GetLinearDamping () const
 Get the linear damping factor. More...
 
ModelPtr GetModel () const
 Get the model that this body belongs to. 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...
 
Joint_V GetParentJoints () const
 Get the parent joints. More...
 
Link_V GetParentJointsLinks () const
 Returns a vector of parent Links connected by joints. More...
 
ModelPtr GetParentModel ()
 Get the parent model, if one exists. More...
 
math::Vector3 GetRelativeAngularAccel () const
 Get the angular acceleration of the body. More...
 
math::Vector3 GetRelativeAngularVel () const
 Get the angular velocity of the body. More...
 
math::Vector3 GetRelativeForce () const
 Get the force applied to the body. More...
 
math::Vector3 GetRelativeLinearAccel () const
 Get the linear acceleration of the body. More...
 
math::Vector3 GetRelativeLinearVel () const
 Get the linear velocity of the body. More...
 
math::Pose GetRelativePose () const
 Get the pose of the entity relative to its parent. More...
 
math::Vector3 GetRelativeTorque () const
 Get the torque applied to the body. 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...
 
bool GetSelfCollide () const
 Get Self-Collision Flag. More...
 
unsigned int GetSensorCount () const
 Get sensor count. More...
 
std::string GetSensorName (unsigned int _index) const
 Get sensor name. More...
 
unsigned int GetType () const
 Get the full type definition. More...
 
msgs::Visual GetVisualMessage (const std::string &_name) const
 Returns the visual message specified by its name. More...
 
const WorldPtrGetWorld () const
 Get the World this object is in. More...
 
math::Vector3 GetWorldAngularAccel () const
 Get the angular acceleration of the body in the world frame, which is computed as (I^-1 * (T - w x L)), where I: inertia matrix in world frame T: sum of external torques in world frame L: angular momentum of CoG in world frame w: angular velocity in world frame. More...
 
math::Vector3 GetWorldAngularMomentum () const
 Get the angular momentum of the body CoG in the world frame, which is computed as (I * w), where I: inertia matrix in world frame w: angular velocity in world frame. More...
 
virtual math::Vector3 GetWorldAngularVel () const
 Get the angular velocity of the entity in the world frame. More...
 
virtual math::Vector3 GetWorldCoGLinearVel () const
 Get the linear velocity at the body's center of gravity in the world frame. More...
 
math::Pose GetWorldCoGPose () const
 Get the pose of the body's center of gravity in the world coordinate frame. More...
 
double GetWorldEnergy () const
 Returns this link's total energy, or sum of Link::GetWorldEnergyPotential() and Link::GetWorldEnergyKinetic(). More...
 
double GetWorldEnergyKinetic () const
 Returns this link's kinetic energy computed using link's CoG velocity in the inertial (world) frame. More...
 
double GetWorldEnergyPotential () const
 Returns this link's potential energy, based on position in world frame and gravity. More...
 
virtual math::Vector3 GetWorldForce () const
 Get the force applied to the body in the world frame. More...
 
math::Pose GetWorldInertialPose () const
 Get the world pose of the link inertia (cog position and Moment of Inertia frame). More...
 
math::Matrix3 GetWorldInertiaMatrix () const
 Get the inertia matrix in the world frame. More...
 
math::Vector3 GetWorldLinearAccel () const
 Get the linear acceleration of the body in the world frame. More...
 
virtual math::Vector3 GetWorldLinearVel (const math::Vector3 &_offset=math::Vector3(0, 0, 0)) const
 Get the linear velocity of a point on the body in the world frame, using an offset expressed in a body-fixed frame. More...
 
virtual math::Vector3 GetWorldLinearVel (const math::Vector3 &_offset, const math::Quaternion &_q) const
 Get the linear velocity of a point on the body in the world frame, using an offset expressed in an arbitrary frame. More...
 
virtual math::Vector3 GetWorldLinearVel () const
 Get the linear velocity of the origin of the link frame, expressed in the world frame. More...
 
virtual const math::PoseGetWorldPose () const
 Get the absolute pose of the entity. More...
 
virtual math::Vector3 GetWorldTorque () const
 Get the torque applied to the body in the world frame. 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 body. 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...
 
virtual void Load (sdf::ElementPtr _ptr)
 Load the body based on an SDF element. More...
 
void MoveFrame (const math::Pose &_worldReferenceFrameSrc, const math::Pose &_worldReferenceFrameDst)
 Move Link given source and target frames specified in world coordinates. More...
 
virtual void OnPoseChange ()
 This function is called when the entity's (or one of its parents) pose of the parent has changed. 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...
 
void Print (const std::string &_prefix)
 Print this object to screen via gzmsg. More...
 
void ProcessMsg (const msgs::Link &_msg)
 Update parameters from a message. 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...
 
virtual void RemoveChild (EntityPtr _child)
 
void RemoveChildJoint (const std::string &_jointName)
 Remove Joints that have this Link as a parent Link. More...
 
void RemoveChildren ()
 Remove all children. More...
 
void RemoveCollision (const std::string &_name)
 Remove a collision from the link. More...
 
void RemoveParentJoint (const std::string &_jointName)
 Remove Joints that have this Link as a child Link. More...
 
void Reset ()
 Reset the link. More...
 
virtual void Reset (Base::EntityType _resetType)
 Calls recursive Reset on one of the Base::EntityType's. More...
 
void ResetPhysicsStates ()
 Reset the velocity, acceleration, force and torque of link. More...
 
void SetAngularAccel (const math::Vector3 &_accel)
 Set the angular acceleration of the body. More...
 
virtual void SetAngularDamping (double _damping)
 Set the angular damping factor. More...
 
virtual void SetAngularVel (const math::Vector3 &_vel)
 Set the angular velocity of the body. 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...
 
virtual void SetAutoDisable (bool _disable)
 Allow the link to 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)
 Set the collide mode of the body. More...
 
void SetDARTParentJoint (DARTJointPtr _dartParentJoint)
 Set parent joint of this link. More...
 
virtual void SetEnabled (bool _enable) const
 Set whether this body is enabled. More...
 
virtual void SetForce (const math::Vector3 &_force)
 Set the force applied to the body. More...
 
virtual void SetGravityMode (bool _mode)
 Set whether gravity affects this body. More...
 
void SetInertial (const InertialPtr &_inertial)
 Set the mass of the link. More...
 
void SetInitialRelativePose (const math::Pose &_pose)
 Set the initial pose. More...
 
virtual void SetKinematic (const bool &_state)
 Implement this function. More...
 
void SetLaserRetro (float _retro)
 Set the laser retro reflectiveness. More...
 
void SetLinearAccel (const math::Vector3 &_accel)
 Set the linear acceleration of the body. More...
 
virtual void SetLinearDamping (double _damping)
 Set the linear damping factor. More...
 
virtual void SetLinearVel (const math::Vector3 &_vel)
 Set the linear velocity of the body. More...
 
virtual void SetLinkStatic (bool _static)
 Freeze link to ground (inertial frame). More...
 
virtual void SetName (const std::string &_name)
 Set the name of the entity. More...
 
void SetParent (BasePtr _parent)
 Set the parent. More...
 
void SetPublishData (bool _enable)
 Enable/Disable link data publishing. More...
 
void SetRelativePose (const math::Pose &_pose, bool _notify=true, 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 math::Vector3 &_scale)
 Set the scale of the link. More...
 
virtual bool SetSelected (bool _set)
 Set whether this entity has been selected by the user through the gui. More...
 
virtual void SetSelfCollide (bool _collide)
 Set whether this body will collide with others in the model. More...
 
void SetState (const LinkState &_state)
 Set the current link state. More...
 
void SetStatic (const bool &_static)
 Set whether this entity is static: immovable. More...
 
virtual void SetTorque (const math::Vector3 &_torque)
 Set the torque applied to the body. More...
 
bool SetVisualPose (const uint32_t _id, const ignition::math::Pose3d &_pose)
 Set the pose of a visual. More...
 
void SetWorld (const WorldPtr &_newWorld)
 Set the world this object belongs to. More...
 
void SetWorldPose (const math::Pose &_pose, bool _notify=true, bool _publish=true)
 Set the world pose of the entity. More...
 
void SetWorldTwist (const math::Vector3 &_linear, const math::Vector3 &_angular, bool _updateChildren=true)
 Set angular and linear rates of an physics::Entity. More...
 
virtual void StopAnimation ()
 Stop the current animation, if any. More...
 
void Update (const common::UpdateInfo &_info)
 Update the collision. More...
 
virtual void Update ()
 Update the object. More...
 
void updateDirtyPoseFromDARTTransformation ()
 Store DART Transformation to Entity::dirtyPose and add this link to World::dirtyPoses so that World::Update() trigger Entity::SetWorldPose() for this link. More...
 
virtual void UpdateMass ()
 Update the mass matrix. More...
 
virtual void UpdateParameters (sdf::ElementPtr _sdf)
 Update the parameters using new sdf values. More...
 
virtual void UpdateSurface ()
 Update surface parameters. More...
 
bool VisualId (const std::string &_visName, uint32_t &_visualId) const
 Get the unique ID of a visual. More...
 
bool VisualPose (const uint32_t _id, ignition::math::Pose3d &_pose) const
 Get the pose of a visual. More...
 

Protected Types

typedef std::map< uint32_t, msgs::Visual > Visuals_M
 

Protected Member Functions

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

Protected Attributes

math::Vector3 angularAccel
 Angular acceleration. More...
 
common::PoseAnimationPtr animation
 Current pose animation. More...
 
event::ConnectionPtr animationConnection
 Connection used to update an animation. More...
 
math::Pose animationStartPose
 Start pose of an animation. More...
 
std::vector< math::PoseattachedModelsOffset
 Offsets for the attached models. More...
 
std::vector< std::string > cgVisuals
 Center of gravity visual elements. More...
 
Base_V children
 Children of this entity. More...
 
std::vector< event::ConnectionPtrconnections
 All our event connections. More...
 
math::Pose dirtyPose
 The pose set by a physics engine. More...
 
InertialPtr inertial
 Inertial properties. More...
 
bool initialized
 This flag is set to true when the link is initialized. More...
 
math::Vector3 linearAccel
 Linear acceleration. More...
 
transport::NodePtr node
 Communication node. More...
 
BasePtr parent
 Parent of this entity. More...
 
EntityPtr parentEntity
 A helper that prevents numerous dynamic_casts. More...
 
common::Time prevAnimationTime
 Previous time an animation was updated. More...
 
transport::PublisherPtr requestPub
 Request publisher. More...
 
ignition::math::Vector3d scale
 Scale of the entity. More...
 
sdf::ElementPtr sdf
 The SDF values for this object. More...
 
transport::PublisherPtr visPub
 Visual publisher. More...
 
msgs::Visual * visualMsg
 Visual message container. More...
 
Visuals_M visuals
 Link visual elements. More...
 
WorldPtr world
 Pointer to the world. More...
 
math::Pose worldPose
 World pose of the entity. More...
 

Detailed Description

DART Link class.

Member Typedef Documentation

§ Visuals_M

typedef std::map<uint32_t, msgs::Visual> Visuals_M
protectedinherited

Member Enumeration Documentation

§ EntityType

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.

ACTOR 

Actor 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.

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

§ DARTLink()

DARTLink ( EntityPtr  _parent)
explicit

Constructor.

§ ~DARTLink()

virtual ~DARTLink ( )
virtual

Destructor.

Member Function Documentation

§ AddChild()

void AddChild ( BasePtr  _child)
inherited

Add a child to this entity.

Parameters
[in]_childChild entity.

Referenced by Base::Update().

§ AddChildJoint()

void AddChildJoint ( JointPtr  _joint)
inherited

Joints that have this Link as a parent Link.

Parameters
[in]_jointJoint that is a child of this link.

§ AddDARTChildJoint()

void AddDARTChildJoint ( DARTJointPtr  _dartChildJoint)

Set child joint of this link.

Parameters
[in]_dartChildJointPointer to the child joint.

§ AddForce()

virtual void AddForce ( const math::Vector3 _force)
virtual

Add a force to the body.

Parameters
[in]_forceForce to add.

Implements Link.

§ AddForceAtRelativePosition()

virtual void AddForceAtRelativePosition ( const math::Vector3 _force,
const math::Vector3 _relPos 
)
virtual

Add a force to the body at position expressed to the body's own frame of reference.

Parameters
[in]_forceForce to add.
[in]_relPosPosition on the link to add the force.

Implements Link.

§ AddForceAtWorldPosition()

virtual void AddForceAtWorldPosition ( const math::Vector3 _force,
const math::Vector3 _pos 
)
virtual

Add a force to the body using a global position.

Parameters
[in]_forceForce to add.
[in]_posPosition in global coord frame to add the force.

Implements Link.

§ AddLinkForce()

virtual void AddLinkForce ( const math::Vector3 _force,
const math::Vector3 _offset = math::Vector3::Zero 
)
virtual

Add a force expressed in the link frame.

Parameters
[in]_forceDirection vector expressed in the link frame. Each component corresponds to the force which will be added in that axis and the vector's magnitude corresponds to the total force.
[in]_offsetOffset position expressed in the link frame. It defaults to the link origin.

Implements Link.

§ AddParentJoint()

void AddParentJoint ( JointPtr  _joint)
inherited

Joints that have this Link as a child Link.

Parameters
[in]_jointJoint that is a parent of this link.

§ AddRelativeForce()

virtual void AddRelativeForce ( const math::Vector3 _force)
virtual

Add a force to the body, components are relative to the body's own frame of reference.

Parameters
[in]_forceForce to add.

Implements Link.

§ AddRelativeTorque()

virtual void AddRelativeTorque ( const math::Vector3 _torque)
virtual

Add a torque to the body, components are relative to the body's own frame of reference.

Parameters
[in]_torqueTorque value to add.

Implements Link.

§ AddTorque()

virtual void AddTorque ( const math::Vector3 _torque)
virtual

Add a torque to the body.

Parameters
[in]_torqueTorque value to add to the link.

Implements Link.

§ AddType()

void AddType ( EntityType  _type)
inherited

Add a type specifier.

Parameters
[in]_typeNew type to append to this objects type definition.

Referenced by Base::Update().

§ AttachStaticModel()

void AttachStaticModel ( ModelPtr _model,
const math::Pose _offset 
)
inherited

Attach a static model to this link.

Parameters
[in]_modelPointer to a static model.
[in]_offsetPose relative to this link to place the model.

§ Battery() [1/2]

common::BatteryPtr Battery ( const std::string &  _name) const
inherited

Get a battery by name.

Parameters
[in]_nameName of the battery to get.
Returns
Pointer to the battery, NULL if the name is invalid.

§ Battery() [2/2]

common::BatteryPtr Battery ( const size_t  _index) const
inherited

Get a battery based on an index.

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

§ BatteryCount()

size_t BatteryCount ( ) const
inherited

Get the number of batteries in this link.

Returns
Size of this->batteries array.
See also
Link::Battery()

§ ComputeScopedName()

void ComputeScopedName ( )
protectedinherited

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

See also
Base::GetScopedName

Referenced by Base::Update().

§ ConnectEnabled()

event::ConnectionPtr ConnectEnabled ( _subscriber)
inlineinherited

Connect to the add entity signal.

Parameters
[in]_subscriberSubsciber callback function.
Returns
Pointer to the connection, which must be kept in scope.

§ DetachAllStaticModels()

void DetachAllStaticModels ( )
inherited

Detach all static models from this link.

§ DetachStaticModel()

void DetachStaticModel ( const std::string &  _modelName)
inherited

Detach a static model from this link.

Parameters
[in]_modelNameName of an attached model to detach.

§ DisconnectEnabled()

void DisconnectEnabled ( event::ConnectionPtr _conn)
inlineinherited

Disconnect to the add entity signal.

Parameters
[in]_connConnection pointer to disconnect.

§ FillMsg()

void FillMsg ( msgs::Link &  _msg)
inherited

Fill a link message.

Parameters
[out]_msgMessage to fill

§ FindAllConnectedLinksHelper()

bool FindAllConnectedLinksHelper ( const LinkPtr _originalParentLink,
Link_V _connectedLinks,
bool  _fistLink = false 
)
inherited

Helper function to find all connected links of a link based on parent/child relations of joints.

For example, if Link0 –> Link1 –> ... –> LinkN is a kinematic chain with Link0 being the base link. Then, call by Link1: Link1->FindAllConnectedLinksHelper(Link0, _list, true); should return true with _list containing Link1 through LinkN. In the case the _originalParentLink is part of a loop, _connectedLinks is cleared and the function returns false.

Parameters
[in]_originParentLinkif this link is a child link of the search, we've found a loop.

§ Fini()

virtual void Fini ( )
virtual

Finalize the entity.

Reimplemented from Entity.

§ GetAngularDamping()

double GetAngularDamping ( ) const
inherited

Get the angular damping factor.

Returns
Angular damping.

§ GetBoundingBox()

virtual math::Box GetBoundingBox ( ) const
virtualinherited

Get the bounding box for the link and all the child elements.

Returns
The link's bounding box.

Reimplemented from Entity.

§ GetByName()

BasePtr GetByName ( const std::string &  _name)
inherited

Get by name.

Parameters
[in]_nameGet a child (or self) object by name
Returns
A pointer to the object, NULL if not found

Referenced by Base::Update().

§ GetChild() [1/2]

BasePtr GetChild ( unsigned int  _i) const
inherited

Get a child by index.

Parameters
[in]_iIndex of the child to retreive.
Returns
A pointer to the object, NULL if the index is invalid.

Referenced by Base::Update().

§ GetChild() [2/2]

BasePtr GetChild ( const std::string &  _name)
inherited

Get a child by name.

Parameters
[in]_nameName of the child.
Returns
A pointer to the object, NULL if not found

§ GetChildCollision()

CollisionPtr GetChildCollision ( const std::string &  _name)
inherited

Get a child collision entity, if one exists.

Parameters
[in]_nameName of the child collision object.
Returns
Pointer to the Collision object, or NULL if not found.

§ GetChildCount()

unsigned int GetChildCount ( ) const
inherited

Get the number of children.

Returns
The number of children.

Referenced by Base::Update().

§ GetChildJoints()

Joint_V GetChildJoints ( ) const
inherited

Get the child joints.

§ GetChildJointsLinks()

Link_V GetChildJointsLinks ( ) const
inherited

Returns a vector of children Links connected by joints.

Returns
A vector of children Links connected by joints.

§ GetChildLink()

LinkPtr GetChildLink ( const std::string &  _name)
inherited

Get a child linke entity, if one exists.

Parameters
[in]_nameName of the child Link object.
Returns
Pointer to the Link object, or NULL if not found.

§ GetCollision() [1/2]

CollisionPtr GetCollision ( const std::string &  _name)
inherited

Get a child collision by name.

Parameters
[in]_nameName of the collision object.
Returns
Pointer to the collision, NULL if the name was not found.

§ GetCollision() [2/2]

CollisionPtr GetCollision ( unsigned int  _index) const
inherited

Get a child collision by index.

Parameters
[in]_indexIndex of the collision object.
Returns
Pointer to the collision, NULL if the name was not found.

§ GetCollisionBoundingBox()

math::Box GetCollisionBoundingBox ( ) const
inherited

Returns collision bounding box.

Returns
Collsiion boundin box.

§ GetCollisions()

Collision_V GetCollisions ( ) const
inherited

Get all the child collisions.

Returns
A std::vector of all the child collisions.

§ GetDARTBodyNode()

dart::dynamics::BodyNode* GetDARTBodyNode ( ) const

Get pointer to DART BodyNode associated with this link.

Returns
Pointer to DART BodyNode.

§ GetDARTModel()

DARTModelPtr GetDARTModel ( ) const

Get pointer to DART Model associated with this link.

Returns
Pointer to the DART Model.

§ GetDARTPhysics()

DARTPhysicsPtr GetDARTPhysics ( void  ) const

Get pointer to DART Physics engine associated with this link.

Returns
Pointer to the DART Physics engine.

§ GetDARTWorld()

dart::simulation::World* GetDARTWorld ( void  ) const

Get pointer to DART World associated with this link.

Returns
Pointer to the DART World.

§ GetDirtyPose()

const math::Pose& GetDirtyPose ( ) 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.

§ GetEnabled()

virtual bool GetEnabled ( ) const
virtual

Get whether this body is enabled in the physics engine.

Returns
True if the link is enabled.

Implements Link.

§ GetGravityMode()

virtual bool GetGravityMode ( ) const
virtual

Get the gravity mode.

Returns
True if gravity is enabled.

Implements Link.

§ GetId()

uint32_t GetId ( ) const
inherited

Return the ID of this entity.

This id is unique.

Returns
Integer ID.

Referenced by Base::Update().

§ GetInertial()

InertialPtr GetInertial ( ) const
inlineinherited

Get the inertia of the link.

Returns
Inertia of the link.

§ GetInitialRelativePose()

math::Pose GetInitialRelativePose ( ) const
inherited

Get the initial relative pose.

Returns
The initial relative pose.

§ GetKinematic()

virtual bool GetKinematic ( ) const
virtual

Implement this function.

Get whether this body is in the kinematic state.

Returns
True if the link is kinematic only.

Reimplemented from Link.

§ GetLinearDamping()

double GetLinearDamping ( ) const
inherited

Get the linear damping factor.

Returns
Linear damping.

§ GetModel()

ModelPtr GetModel ( ) const
inherited

Get the model that this body belongs to.

Returns
Model that this body belongs to.

§ GetName()

std::string GetName ( ) const
inherited

Return the name of the entity.

Returns
Name of the entity.

Referenced by Base::Update().

§ GetNearestEntityBelow()

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

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

Parameters
[out]_distBelowThe distance to the nearest entity below.
[out]_entityNameThe name of the nearest entity below.

§ GetParent()

BasePtr GetParent ( ) const
inherited

Get the parent.

Returns
Pointer to the parent entity.

Referenced by Base::Update().

§ GetParentId()

int GetParentId ( ) const
inherited

Return the ID of the parent.

Returns
Integer ID.

Referenced by Base::Update().

§ GetParentJoints()

Joint_V GetParentJoints ( ) const
inherited

Get the parent joints.

§ GetParentJointsLinks()

Link_V GetParentJointsLinks ( ) const
inherited

Returns a vector of parent Links connected by joints.

Returns
Vector of parent Links connected by joints.

§ GetParentModel()

ModelPtr GetParentModel ( )
inherited

Get the parent model, if one exists.

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

§ GetRelativeAngularAccel()

math::Vector3 GetRelativeAngularAccel ( ) const
virtualinherited

Get the angular acceleration of the body.

Returns
Angular acceleration of the body.

Reimplemented from Entity.

§ GetRelativeAngularVel()

math::Vector3 GetRelativeAngularVel ( ) const
virtualinherited

Get the angular velocity of the body.

Returns
Angular velocity of the body.

Reimplemented from Entity.

§ GetRelativeForce()

math::Vector3 GetRelativeForce ( ) const
inherited

Get the force applied to the body.

Returns
Force applied to the body.

§ GetRelativeLinearAccel()

math::Vector3 GetRelativeLinearAccel ( ) const
virtualinherited

Get the linear acceleration of the body.

Returns
Linear acceleration of the body.

Reimplemented from Entity.

§ GetRelativeLinearVel()

math::Vector3 GetRelativeLinearVel ( ) const
virtualinherited

Get the linear velocity of the body.

Returns
Linear velocity of the body.

Reimplemented from Entity.

§ GetRelativePose()

math::Pose GetRelativePose ( ) const
inherited

Get the pose of the entity relative to its parent.

Returns
The pose of the entity relative to its parent.

§ GetRelativeTorque()

math::Vector3 GetRelativeTorque ( ) const
inherited

Get the torque applied to the body.

Returns
Torque applied to the body.

§ GetSaveable()

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.

Referenced by Base::Update().

§ GetScopedName()

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

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

Parameters
[in]_prependWorldNameTrue to prended the returned string with the world name. The result will be world::model1::...::modelN::entityName.
Returns
The scoped name.

Referenced by Base::Update().

§ GetSDF()

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.

Referenced by Base::Update().

§ GetSelfCollide()

bool GetSelfCollide ( ) const
inherited

Get Self-Collision Flag.

Two links within the same model will not collide if both have self_collide == false.
link 1 and link2 collide = link1.self_collide || link2.self_collide Bodies connected by a joint are exempt from this, and will never collide.

Returns
True if self collision is enabled.

§ GetSensorCount()

unsigned int GetSensorCount ( ) const
inherited

Get sensor count.

This will return the number of sensors created by the link when it was loaded. This function is commonly used with Link::GetSensorName.

Returns
The number of sensors created by the link.

§ GetSensorName()

std::string GetSensorName ( unsigned int  _index) const
inherited

Get sensor name.

Get the name of a sensor based on an index. The index should be in the range of 0...Link::GetSensorCount().

Note
A Link 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]_indexIndex of the sensor name.
Returns
The name of the sensor, or empty string if the index is out of bounds.

§ GetType()

unsigned int GetType ( ) const
inherited

Get the full type definition.

Returns
The full type definition.

Referenced by Base::Update().

§ GetVisualMessage()

msgs::Visual GetVisualMessage ( const std::string &  _name) const
inherited

Returns the visual message specified by its name.

Parameters
[in]nameof the visual message
Returns
visual message

§ GetWorld()

const WorldPtr& GetWorld ( ) const
inherited

Get the World this object is in.

Returns
The World this object is part of.

Referenced by Base::Update().

§ GetWorldAngularAccel()

math::Vector3 GetWorldAngularAccel ( ) const
virtualinherited

Get the angular acceleration of the body in the world frame, which is computed as (I^-1 * (T - w x L)), where I: inertia matrix in world frame T: sum of external torques in world frame L: angular momentum of CoG in world frame w: angular velocity in world frame.

Returns
Angular acceleration of the body in the world frame.

Reimplemented from Entity.

§ GetWorldAngularMomentum()

math::Vector3 GetWorldAngularMomentum ( ) const
inherited

Get the angular momentum of the body CoG in the world frame, which is computed as (I * w), where I: inertia matrix in world frame w: angular velocity in world frame.

Returns
Angular momentum of the body.

§ GetWorldAngularVel()

virtual math::Vector3 GetWorldAngularVel ( ) const
virtual

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

Returns
A math::Vector3 for the velocity.

Reimplemented from Entity.

§ GetWorldCoGLinearVel()

virtual math::Vector3 GetWorldCoGLinearVel ( ) const
virtual

Get the linear velocity at the body's center of gravity in the world frame.

Returns
Linear velocity at the body's center of gravity in the world frame.

Implements Link.

§ GetWorldCoGPose()

math::Pose GetWorldCoGPose ( ) const
inherited

Get the pose of the body's center of gravity in the world coordinate frame.

Returns
Pose of the body's center of gravity in the world coordinate frame.

§ GetWorldEnergy()

double GetWorldEnergy ( ) const
inherited

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

Returns
this link's total energy

§ GetWorldEnergyKinetic()

double GetWorldEnergyKinetic ( ) const
inherited

Returns this link's kinetic energy computed using link's CoG velocity in the inertial (world) frame.

Returns
this link's kinetic energy

§ GetWorldEnergyPotential()

double GetWorldEnergyPotential ( ) const
inherited

Returns this link's potential energy, based on position in world frame and gravity.

Returns
this link's potential energy,

§ GetWorldForce()

virtual math::Vector3 GetWorldForce ( ) const
virtual

Get the force applied to the body in the world frame.

Returns
Force applied to the body in the world frame.

Implements Link.

§ GetWorldInertialPose()

math::Pose GetWorldInertialPose ( ) const
inherited

Get the world pose of the link inertia (cog position and Moment of Inertia frame).

This differs from GetWorldCoGPose(), which returns the cog position in the link frame (not the Moment of Inertia frame).

Returns
Inertial pose in world frame.

§ GetWorldInertiaMatrix()

math::Matrix3 GetWorldInertiaMatrix ( ) const
inherited

Get the inertia matrix in the world frame.

Returns
Inertia matrix in world frame, returns matrix of zeros if link has no inertia.

§ GetWorldLinearAccel()

math::Vector3 GetWorldLinearAccel ( ) const
virtualinherited

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

Returns
Linear acceleration of the body in the world frame.

Reimplemented from Entity.

§ GetWorldLinearVel() [1/3]

virtual math::Vector3 GetWorldLinearVel ( const math::Vector3 _offset = math::Vector3(0, 0, 0)) const
virtual

Get the linear velocity of a point on the body in the world frame, using an offset expressed in a body-fixed frame.

If no offset is given, the velocity at the origin of the Link frame will be returned.

Parameters
[in]_offsetOffset of the point from the origin of the Link frame, expressed in the body-fixed frame.
Returns
Linear velocity of the point on the body

Implements Link.

§ GetWorldLinearVel() [2/3]

virtual math::Vector3 GetWorldLinearVel ( const math::Vector3 _offset,
const math::Quaternion _q 
) const
virtual

Get the linear velocity of a point on the body in the world frame, using an offset expressed in an arbitrary frame.

Parameters
[in]_offsetOffset from the origin of the link frame expressed in a frame defined by _q.
[in]_qDescribes the rotation of a reference frame relative to the world reference frame.
Returns
Linear velocity of the point on the body in the world frame.

Implements Link.

§ GetWorldLinearVel() [3/3]

virtual math::Vector3 GetWorldLinearVel ( ) const
inlinevirtualinherited

Get the linear velocity of the origin of the link frame, expressed in the world frame.

Returns
Linear velocity of the link frame.

Reimplemented from Entity.

References Vector3::Zero.

§ GetWorldPose()

virtual const math::Pose& GetWorldPose ( ) const
inlinevirtualinherited

Get the absolute pose of the entity.

Returns
The absolute pose of the entity.

Reimplemented in Collision.

§ GetWorldTorque()

virtual math::Vector3 GetWorldTorque ( ) const
virtual

Get the torque applied to the body in the world frame.

Returns
Torque applied to the body in the world frame.

Implements Link.

§ HasType()

bool HasType ( const EntityType _t) const
inherited

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

Parameters
[in]_tType to check.
Returns
True if this object's type definition has the.

Referenced by Base::Update().

§ Init()

virtual void Init ( )
virtual

Initialize the body.

Reimplemented from Link.

§ IsCanonicalLink()

bool IsCanonicalLink ( ) const
inlineinherited

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

Returns
True if the link is canonical.

§ IsSelected()

bool IsSelected ( ) const
inherited

True if the entity is selected by the user.

Returns
True if the entity is selected.

Referenced by Base::Update().

§ IsStatic()

bool IsStatic ( ) const
inherited

Return whether this entity is static.

Returns
True if static.

§ Load()

virtual void Load ( sdf::ElementPtr  _sdf)
virtual

Load the body based on an SDF element.

Parameters
[in]_sdfSDF parameters.

Reimplemented from Link.

§ MoveFrame()

void MoveFrame ( const math::Pose _worldReferenceFrameSrc,
const math::Pose _worldReferenceFrameDst 
)
inherited

Move Link given source and target frames specified in world coordinates.

Assuming link's relative pose to source frame (_worldReferenceFrameSrc) remains unchanged relative to destination frame (_worldReferenceFrameDst).

Parameters
[in]_worldReferenceFrameSrcinitial reference frame to which this link is attached.
[in]_worldReferenceFrameDstfinal location of the reference frame specified in world coordinates.

§ OnPoseChange()

virtual void OnPoseChange ( )
virtual

This function is called when the entity's (or one of its parents) pose of the parent has changed.

Reimplemented from Link.

§ operator==()

bool operator== ( const Base _ent) const
inherited

Returns true if the entities are the same.

Checks only the name.

Parameters
[in]_entBase object to compare with.
Returns
True if the entities are the same.

Referenced by Base::Update().

§ PlaceOnEntity()

void PlaceOnEntity ( const std::string &  _entityName)
inherited

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

Parameters
[in]_entityNameName of the Entity this Entity should be ontop of.

§ PlaceOnNearestEntityBelow()

void PlaceOnNearestEntityBelow ( )
inherited

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

§ Print()

void Print ( const std::string &  _prefix)
inherited

Print this object to screen via gzmsg.

Parameters
[in]_prefixUsually a set of spaces.

Referenced by Base::Update().

§ ProcessMsg()

void ProcessMsg ( const msgs::Link &  _msg)
inherited

Update parameters from a message.

Parameters
[in]_msgMessage to read.

§ RemoveChild() [1/4]

virtual void RemoveChild ( unsigned int  _id)
virtualinherited

Remove a child from this entity.

Parameters
[in]_idID of the child to remove.

Referenced by Base::Update().

§ RemoveChild() [2/4]

void RemoveChild ( const std::string &  _name)
inherited

Remove a child by name.

Parameters
[in]_nameName of the child.

§ RemoveChild() [3/4]

void RemoveChild ( physics::BasePtr  _child)
inherited

Remove a child by pointer.

Parameters
[in]_childPointer to the child.

§ RemoveChild() [4/4]

virtual void RemoveChild ( EntityPtr  _child)
virtualinherited

§ RemoveChildJoint()

void RemoveChildJoint ( const std::string &  _jointName)
inherited

Remove Joints that have this Link as a parent Link.

Parameters
[in]_jointNameChild Joint name.

§ RemoveChildren()

void RemoveChildren ( )
inherited

Remove all children.

Referenced by Base::Update().

§ RemoveCollision()

void RemoveCollision ( const std::string &  _name)
inherited

Remove a collision from the link.

Parameters

§ RemoveParentJoint()

void RemoveParentJoint ( const std::string &  _jointName)
inherited

Remove Joints that have this Link as a child Link.

Parameters
[in]_jointNameParent Joint name.

§ Reset() [1/2]

void Reset ( )
virtualinherited

Reset the link.

Reimplemented from Entity.

§ Reset() [2/2]

virtual void Reset ( Base::EntityType  _resetType)
virtualinherited

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

Parameters
[in]_resetTypeThe type of reset operation

§ ResetPhysicsStates()

void ResetPhysicsStates ( )
inherited

Reset the velocity, acceleration, force and torque of link.

§ SetAngularAccel()

void SetAngularAccel ( const math::Vector3 _accel)
inherited

Set the angular acceleration of the body.

Parameters
[in]_accelAngular acceleration.

§ SetAngularDamping()

virtual void SetAngularDamping ( double  _damping)
virtual

Set the angular damping factor.

Parameters
[in]_dampingAngular damping factor.

Implements Link.

§ SetAngularVel()

virtual void SetAngularVel ( const math::Vector3 _vel)
virtual

Set the angular velocity of the body.

Parameters
[in]_velAngular velocity.

Implements Link.

§ SetAnimation() [1/2]

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

Set an animation for this entity.

Parameters
[in]_animPose animation.
[in]_onCompleteCallback for when the animation completes.

§ SetAnimation() [2/2]

void SetAnimation ( common::PoseAnimationPtr  _anim)
inherited

Set an animation for this entity.

Parameters
[in]_animPose animation.

§ SetAutoDisable()

virtual void SetAutoDisable ( bool  _disable)
virtual

Allow the link to auto disable.

Parameters
[in]_disableIf true, the link is allowed to auto disable.

Implements Link.

§ SetCanonicalLink()

void SetCanonicalLink ( bool  _value)
inherited

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

Parameters
[in]_valueTrue if the link is canonical.

§ SetCollideMode()

void SetCollideMode ( const std::string &  _mode)
inherited

Set the collide mode of the body.

Parameters
[in]_modeCollision Mode, this can be: [all|none|sensors|fixed|ghost] all: collides with everything none: collides with nothing sensors: collides with everything else but other sensors fixed: collides with everything else but other fixed ghost: collides with everything else but other ghost

§ SetDARTParentJoint()

void SetDARTParentJoint ( DARTJointPtr  _dartParentJoint)

Set parent joint of this link.

Parameters
[in]_dartParentJointPointer to the parent joint.

§ SetEnabled()

virtual void SetEnabled ( bool  _enable) const
virtual

Set whether this body is enabled.

Parameters
[in]_enableTrue to enable the link in the physics engine.

Implements Link.

§ SetForce()

virtual void SetForce ( const math::Vector3 _force)
virtual

Set the force applied to the body.

Parameters
[in]_forceForce value.

Implements Link.

§ SetGravityMode()

virtual void SetGravityMode ( bool  _mode)
virtual

Set whether gravity affects this body.

Parameters
[in]_modeTrue to enable gravity.

Implements Link.

§ SetInertial()

void SetInertial ( const InertialPtr _inertial)
inherited

Set the mass of the link.

[in] _inertial Inertial value for the link.

§ SetInitialRelativePose()

void SetInitialRelativePose ( const math::Pose _pose)
inherited

Set the initial pose.

Parameters
[in]_poseThe initial pose.

§ SetKinematic()

virtual void SetKinematic ( const bool &  _kinematic)
virtual

Implement this function.

Set whether this body is in the kinematic state.

Parameters
[in]_kinematicTrue to make the link kinematic only.

Reimplemented from Link.

§ SetLaserRetro()

void SetLaserRetro ( float  _retro)
inherited

Set the laser retro reflectiveness.

Parameters
[in]_retroRetro value for all child collisions.

§ SetLinearAccel()

void SetLinearAccel ( const math::Vector3 _accel)
inherited

Set the linear acceleration of the body.

Parameters
[in]_accelLinear acceleration.

§ SetLinearDamping()

virtual void SetLinearDamping ( double  _damping)
virtual

Set the linear damping factor.

Parameters
[in]_dampingLinear damping factor.

Implements Link.

§ SetLinearVel()

virtual void SetLinearVel ( const math::Vector3 _vel)
virtual

Set the linear velocity of the body.

Parameters
[in]_velLinear velocity.

Implements Link.

§ SetLinkStatic()

virtual void SetLinkStatic ( bool  _static)
virtual

Freeze link to ground (inertial frame).

Parameters
[in]_staticif true, freeze link to ground. Otherwise unfreeze link.

Implements Link.

§ SetName()

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

Set the name of the entity.

Parameters
[in]_nameThe new name.

Reimplemented from Base.

§ SetParent()

void SetParent ( BasePtr  _parent)
inherited

Set the parent.

Parameters
[in]_parentParent object.

Referenced by Base::Update().

§ SetPublishData()

void SetPublishData ( bool  _enable)
inherited

Enable/Disable link data publishing.

Parameters
[in]_enableTrue to enable publishing, false to stop publishing

§ SetRelativePose()

void SetRelativePose ( const math::Pose _pose,
bool  _notify = true,
bool  _publish = true 
)
inherited

Set the pose of the entity relative to its parent.

Parameters
[in]_poseThe new pose.
[in]_notifyTrue = tell children of the pose change.
[in]_publishTrue to publish the pose.

§ SetSaveable()

void SetSaveable ( bool  _v)
inherited

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

Parameters
[in]_vSet to True if the object should be saved.

Referenced by Base::Update().

§ SetScale()

void SetScale ( const math::Vector3 _scale)
inherited

Set the scale of the link.

Parameters
[in]_scaleScale to set the link to.

§ SetSelected()

virtual bool SetSelected ( bool  _set)
virtualinherited

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

Parameters
[in]_setTrue to set the link as selected.

Reimplemented from Base.

§ SetSelfCollide()

virtual void SetSelfCollide ( bool  _collide)
virtual

Set whether this body will collide with others in the model.

See also
GetSelfCollide
Parameters
[in]_collideTrue to enable collisions.

Implements Link.

§ SetState()

void SetState ( const LinkState _state)
inherited

Set the current link state.

Parameters
[in]_stateThe state to set the link to.

§ SetStatic()

void SetStatic ( const bool &  _static)
inherited

Set whether this entity is static: immovable.

Parameters
[in]_staticTrue = static.

§ SetTorque()

virtual void SetTorque ( const math::Vector3 _torque)
virtual

Set the torque applied to the body.

Parameters
[in]_torqueTorque value.

Implements Link.

§ SetVisualPose()

bool SetVisualPose ( const uint32_t  _id,
const ignition::math::Pose3d &  _pose 
)
inherited

Set the pose of a visual.

Parameters
[in]_idUnique ID of visual message.
[in]_posePose relative to this link to place the visual.
Returns
True if setting the pose of the visual was successful.

§ SetWorld()

void SetWorld ( const WorldPtr _newWorld)
inherited

Set the world this object belongs to.

This will also set the world for all children.

Parameters
[in]_newWorldThe new World this object is part of.

Referenced by Base::Update().

§ SetWorldPose()

void SetWorldPose ( const math::Pose _pose,
bool  _notify = true,
bool  _publish = true 
)
inherited

Set the world pose of the entity.

Parameters
[in]_poseThe new world pose.
[in]_notifyTrue = tell children of the pose change.
[in]_publishTrue to publish the pose.

§ SetWorldTwist()

void SetWorldTwist ( const math::Vector3 _linear,
const math::Vector3 _angular,
bool  _updateChildren = true 
)
inherited

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

Parameters
[in]_linearLinear twist.
[in]_angularAngular twist.
[in]_updateChildrenTrue to pass this update to child entities.

§ StopAnimation()

virtual void StopAnimation ( )
virtualinherited

Stop the current animation, if any.

Reimplemented in Model.

§ Update() [1/2]

void Update ( const common::UpdateInfo _info)
inherited

Update the collision.

Parameters
[in]_infoUpdate information.

§ Update() [2/2]

§ updateDirtyPoseFromDARTTransformation()

void updateDirtyPoseFromDARTTransformation ( )

Store DART Transformation to Entity::dirtyPose and add this link to World::dirtyPoses so that World::Update() trigger Entity::SetWorldPose() for this link.

§ UpdateMass()

virtual void UpdateMass ( )
virtual

Update the mass matrix.

Reimplemented from Link.

§ UpdateParameters()

virtual void UpdateParameters ( sdf::ElementPtr  _sdf)
virtualinherited

Update the parameters using new sdf values.

Parameters
[in]_sdfSDF values to load from.

Reimplemented from Entity.

§ UpdateSurface()

virtual void UpdateSurface ( )
inlinevirtualinherited

Update surface parameters.

Reimplemented in ODELink.

§ VisualId()

bool VisualId ( const std::string &  _visName,
uint32_t &  _visualId 
) const
inherited

Get the unique ID of a visual.

Parameters
[in]_visNameName of the visual.
[out]_visualIdThe unique ID of the visual.
Returns
True if getting the unique ID of the visual was successful.

§ VisualPose()

bool VisualPose ( const uint32_t  _id,
ignition::math::Pose3d &  _pose 
) const
inherited

Get the pose of a visual.

Parameters
[in]_idUnique ID of visual.
[out]_posePose of the visual relative to this link.
Returns
True if getting the pose of the visual was successful.

Member Data Documentation

§ angularAccel

math::Vector3 angularAccel
protectedinherited

Angular acceleration.

§ animation

common::PoseAnimationPtr animation
protectedinherited

Current pose animation.

§ animationConnection

event::ConnectionPtr animationConnection
protectedinherited

Connection used to update an animation.

§ animationStartPose

math::Pose animationStartPose
protectedinherited

Start pose of an animation.

§ attachedModelsOffset

std::vector<math::Pose> attachedModelsOffset
protectedinherited

Offsets for the attached models.

§ cgVisuals

std::vector<std::string> cgVisuals
protectedinherited

Center of gravity visual elements.

TODO: Not used, kept for ABI compatibility. Deprecate when merging forward.

§ children

Base_V children
protectedinherited

Children of this entity.

§ connections

std::vector<event::ConnectionPtr> connections
protectedinherited

All our event connections.

§ dirtyPose

math::Pose dirtyPose
protectedinherited

The pose set by a physics engine.

§ inertial

InertialPtr inertial
protectedinherited

Inertial properties.

§ initialized

bool initialized
protectedinherited

This flag is set to true when the link is initialized.

§ linearAccel

math::Vector3 linearAccel
protectedinherited

Linear acceleration.

§ node

transport::NodePtr node
protectedinherited

Communication node.

§ parent

BasePtr parent
protectedinherited

Parent of this entity.

§ parentEntity

EntityPtr parentEntity
protectedinherited

A helper that prevents numerous dynamic_casts.

§ prevAnimationTime

common::Time prevAnimationTime
protectedinherited

Previous time an animation was updated.

§ requestPub

transport::PublisherPtr requestPub
protectedinherited

Request publisher.

§ scale

ignition::math::Vector3d scale
protectedinherited

Scale of the entity.

§ sdf

sdf::ElementPtr sdf
protectedinherited

The SDF values for this object.

§ visPub

transport::PublisherPtr visPub
protectedinherited

Visual publisher.

§ visualMsg

msgs::Visual* visualMsg
protectedinherited

Visual message container.

§ visuals

Visuals_M visuals
protectedinherited

Link visual elements.

§ world

WorldPtr world
protectedinherited

Pointer to the world.

§ worldPose

math::Pose worldPose
mutableprotectedinherited

World pose of the entity.


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