A model is a collection of links, joints, and plugins. More...

#include <physics/physics.hh>

Inherits Entity.

Inherited by Actor, DARTModel, and SimbodyModel.

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
	Model (BasePtr _parent)
	Constructor. More...

virtual	~Model ()
	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, math::Pose _offset)
	Attach a static model to this model. 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...

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...

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

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

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

virtual math::Box	GetBoundingBox () const
	Get the size of the bounding box. 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...

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

const math::Pose &	GetDirtyPose () const
	Returns Entity::dirtyPose. 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...

math::Pose	GetInitialRelativePose () const
	Get the initial relative pose. 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...

virtual math::Vector3	GetRelativeAngularAccel () const
	Get the angular acceleration of the entity. More...

virtual math::Vector3	GetRelativeAngularVel () const
	Get the angular velocity of the entity. More...

virtual math::Vector3	GetRelativeLinearAccel () const
	Get the linear acceleration of the entity. More...

virtual math::Vector3	GetRelativeLinearVel () const
	Get the linear velocity of the entity. More...

math::Pose	GetRelativePose () const
	Get the pose of the entity relative to its parent. More...

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

std::string	GetScopedName (bool _prependWorldName=false) const
	Return the name of this entity with the model scope model1::...::modelN::entityName. More...

virtual const sdf::ElementPtr	GetSDF ()
	Get the SDF values for the model. More...

bool	GetSelfCollide () const
	If true, all links within the model will collide by default. 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...

virtual math::Vector3	GetWorldAngularAccel () const
	Get the angular acceleration of the entity in the world frame. More...

virtual math::Vector3	GetWorldAngularVel () const
	Get the angular velocity of the entity in the world frame. 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...

virtual math::Vector3	GetWorldLinearAccel () const
	Get the linear acceleration of the entity in the world frame. More...

virtual math::Vector3	GetWorldLinearVel () const
	Get the linear velocity of the entity in the world frame. More...

virtual const math::Pose &	GetWorldPose () const
	Get the absolute pose of the entity. 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 model. 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 model. 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...

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 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 model. 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 all child links. More...

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

void	SetAngularAccel (const math::Vector3 &_vel)
	Set the angular acceleration of the model, and all its links. More...

void	SetAngularVel (const math::Vector3 &_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	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 math::Pose &_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 math::Vector3 &_vel)
	Set the linear acceleration of the model, and all its links. More...

void	SetLinearVel (const math::Vector3 &_vel)
	Set the linear velocity of the model, and all its links. More...

void	SetLinkWorldPose (const math::Pose &_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 math::Pose &_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 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) GAZEBO_DEPRECATED(7.0)
	Set the scale of model. More...

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

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

void	SetSelfCollide (bool _self_collide)
	Set this model's self_collide property. 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...

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...

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

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

virtual const sdf::ElementPtr	UnscaledSDF ()

void	Update ()
	Update the model. More...

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

Protected Attributes
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< ModelPtr >	attachedModels
	used by Model::AttachStaticModel More...

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

Base_V	children
	Children of this entity. More...

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

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

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

WorldPtr	world
	Pointer to the world. More...

math::Pose	worldPose
	World pose of the entity. More...

Detailed Description

A model is a collection of links, joints, and plugins.

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

§ Model()

Model ( BasePtr _parent )

explicit

Constructor.

Parameters

[in] _parent Parent object.

§ ~Model()

virtual ~Model ( )

virtual

Destructor.

Member Function Documentation

§ AddChild()

void AddChild ( BasePtr _child )

inherited

Add a child to this entity.

Parameters

[in] _child Child entity.

Referenced by Base::Update().

§ AddType()

void AddType ( EntityType _type )

inherited

Add a type specifier.

Parameters

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

Referenced by Base::Update().

§ AttachStaticModel()

void AttachStaticModel	(	ModelPtr &	_model,
		math::Pose	_offset
	)

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.

§ ComputeScopedName()

void ComputeScopedName ( )

protectedinherited

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

See also: Base::GetScopedName

Referenced by Base::Update().

§ CreateJoint()

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

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

§ CreateLink()

LinkPtr CreateLink ( const std::string & _name )

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.

§ DetachStaticModel()

void DetachStaticModel ( const std::string & _model )

Detach a static model from this model.

Parameters

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

See also: Model::AttachStaticModel.

§ FillMsg()

virtual void FillMsg ( msgs::Model & _msg )

virtual

Fill a model message.

Parameters

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

§ Fini()

virtual void Fini ( )

virtual

Finalize the model.

Reimplemented from Entity.

Reimplemented in Actor, and DARTModel.

§ GetAutoDisable()

bool GetAutoDisable ( ) const

Return the value of the SDF <allow_auto_disable> element.

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

§ GetBoundingBox()

virtual math::Box GetBoundingBox ( ) const

virtual

Get the size of the bounding box.

Returns: The bounding box.

Reimplemented from Entity.

§ GetByName()

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

Referenced by Base::Update().

§ GetChild() [1/2]

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.

Referenced by Base::Update().

§ GetChild() [2/2]

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

§ GetChildCollision()

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.

§ GetChildCount()

unsigned int GetChildCount ( ) const

inherited

Get the number of children.

Returns: The number of children.

Referenced by Base::Update().

§ GetChildLink()

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.

§ GetCollisionBoundingBox()

math::Box GetCollisionBoundingBox ( ) const

inherited

Returns collision bounding box.

Returns: Collsiion boundin box.

§ 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.

§ GetGripper()

GripperPtr GetGripper ( size_t _index ) const

Get a gripper based on an index.

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

§ GetGripperCount()

size_t GetGripperCount ( ) const

Get the number of grippers in this model.

Returns: Size of this->grippers array.

See also: Model::GetGripper()

§ GetId()

uint32_t GetId ( ) const

inherited

Return the ID of this entity.

This id is unique.

Returns: Integer ID.

Referenced by Base::Update().

§ GetInitialRelativePose()

math::Pose GetInitialRelativePose ( ) const

inherited

Get the initial relative pose.

Returns: The initial relative pose.

§ GetJoint()

JointPtr GetJoint ( const std::string & name )

Get a joint.

Parameters

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

Returns: Pointer to the joint

§ GetJointController()

JointControllerPtr GetJointController ( )

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

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

§ GetJointCount()

unsigned int GetJointCount ( ) const

Get the number of joints.

Returns: Get the number of joints.

§ GetJoints()

const Joint_V& GetJoints ( ) const

Get the joints.

Returns: Vector of joints.

§ GetLink()

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

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.

§ GetLinks()

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.

Returns: a vector of Link's in this model

§ 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]	_distBelow	The distance to the nearest entity below.
[out]	_entityName	The 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().

§ GetParentModel()

ModelPtr GetParentModel ( )

inherited

Get the parent model, if one exists.

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

§ GetPluginCount()

unsigned int GetPluginCount ( ) const

Get the number of plugins this model has.

Returns: Number of plugins associated with this model.

§ GetRelativeAngularAccel()

virtual math::Vector3 GetRelativeAngularAccel ( ) const

virtual

Get the angular acceleration of the entity.

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

Reimplemented from Entity.

§ GetRelativeAngularVel()

virtual math::Vector3 GetRelativeAngularVel ( ) const

virtual

Get the angular velocity of the entity.

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

Reimplemented from Entity.

§ GetRelativeLinearAccel()

virtual math::Vector3 GetRelativeLinearAccel ( ) const

virtual

Get the linear acceleration of the entity.

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

Reimplemented from Entity.

§ GetRelativeLinearVel()

virtual math::Vector3 GetRelativeLinearVel ( ) const

virtual

Get the linear velocity of the entity.

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

§ 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] _prependWorldName True 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 ( )

virtual

Get the SDF values for the model.

Returns: The SDF value for this model.

Reimplemented from Base.

Reimplemented in Actor.

§ GetSelfCollide()

bool GetSelfCollide ( ) const

If true, all links within the model will collide by default.

Two links within the same model will not collide if both have link.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-collide enabled for this model, false otherwise.

§ GetSensorCount()

unsigned int GetSensorCount ( ) const

Get the number of sensors attached to this model.

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

Returns: Number of sensors.

§ GetType()

unsigned int GetType ( ) const

inherited

Get the full type definition.

Returns: The full type definition.

Referenced by Base::Update().

§ 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()

virtual math::Vector3 GetWorldAngularAccel ( ) const

virtual

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

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

Reimplemented from Entity.

§ GetWorldAngularVel()

virtual math::Vector3 GetWorldAngularVel ( ) const

virtual

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

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

Reimplemented from Entity.

§ GetWorldEnergy()

double GetWorldEnergy ( ) const

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

Returns: this link's total energy

§ GetWorldEnergyKinetic()

double GetWorldEnergyKinetic ( ) const

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

§ GetWorldEnergyPotential()

double GetWorldEnergyPotential ( ) const

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

Returns: this link's potential energy,

§ GetWorldLinearAccel()

virtual math::Vector3 GetWorldLinearAccel ( ) const

virtual

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

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

Reimplemented from Entity.

§ GetWorldLinearVel()

virtual math::Vector3 GetWorldLinearVel ( ) const

virtual

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

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

Reimplemented from Entity.

§ 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.

§ HasType()

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.

Referenced by Base::Update().

§ Init()

virtual void Init ( )

virtual

Initialize the model.

Reimplemented from Base.

Reimplemented in Actor, DARTModel, and SimbodyModel.

§ 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()

void Load ( sdf::ElementPtr _sdf )

virtual

Load the model.

Parameters

[in] _sdf SDF parameters to load from.

Reimplemented from Entity.

Reimplemented in SimbodyModel.

§ LoadJoints()

void LoadJoints ( )

Load all the joints.

§ LoadPlugins()

void LoadPlugins ( )

Load all plugins.

Load all plugins specified in the SDF for the model.

§ NestedModel()

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

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.

§ NestedModels()

const Model_V& NestedModels ( ) const

Get all the nested models.

Returns: a vector of Model's in this model

§ OnPoseChange()

virtual void OnPoseChange ( )

protectedvirtual

Callback when the pose of the model has been changed.

Implements Entity.

§ operator==()

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.

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] _entityName Name 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] _prefix Usually a set of spaces.

Referenced by Base::Update().

§ ProcessMsg()

void ProcessMsg ( const msgs::Model & _msg )

Update parameters from a model message.

Parameters

[in] _msg Message to process.

§ RemoveChild() [1/4]

virtual void RemoveChild ( EntityPtr _child )

virtual

Remove a child.

Parameters

[in] _child Remove a child entity.

§ RemoveChild() [2/4]

virtual void RemoveChild ( unsigned int _id )

virtualinherited

Remove a child from this entity.

Parameters

[in] _id ID of the child to remove.

Referenced by Base::Update().

§ RemoveChild() [3/4]

void RemoveChild ( const std::string & _name )

inherited

Remove a child by name.

Parameters

[in] _name Name of the child.

§ RemoveChild() [4/4]

void RemoveChild ( physics::BasePtr _child )

inherited

Remove a child by pointer.

Parameters

[in] _child Pointer to the child.

§ RemoveChildren()

void RemoveChildren ( )

inherited

Remove all children.

Referenced by Base::Update().

§ RemoveJoint()

bool RemoveJoint ( const std::string & _name )

Remove a joint for this model.

Parameters

[in] _name name of joint

Returns: true if successful, false if not.

§ Reset() [1/2]

void Reset ( )

virtual

Reset the model.

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] _resetType The type of reset operation

§ ResetPhysicsStates()

void ResetPhysicsStates ( )

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

§ Scale()

ignition::math::Vector3d Scale ( ) const

Get the scale of model.

Returns: Scale of the model.

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

§ SetAngularAccel()

void SetAngularAccel ( const math::Vector3 & _vel )

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

Parameters

[in] _vel The new angular acceleration

§ SetAngularVel()

void SetAngularVel ( const math::Vector3 & _vel )

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

Parameters

[in] _vel The new angular velocity.

§ SetAnimation() [1/2]

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.

§ SetAnimation() [2/2]

void SetAnimation ( common::PoseAnimationPtr _anim )

inherited

Set an animation for this entity.

Parameters

[in] _anim Pose animation.

§ SetAutoDisable()

void SetAutoDisable ( bool _disable )

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.

§ SetCanonicalLink()

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.

§ SetCollideMode()

void SetCollideMode ( const std::string & _mode )

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

§ SetEnabled()

void SetEnabled ( bool _enabled )

Enable all the links in all the models.

Parameters

[in] _enabled True to enable all the links.

§ SetGravityMode()

void SetGravityMode ( const bool & _value )

Set the gravity mode of the model.

Parameters

[in] _value False to turn gravity on for the model.

§ SetInitialRelativePose()

void SetInitialRelativePose ( const math::Pose & _pose )

inherited

Set the initial pose.

Parameters

[in] _pose The initial pose.

§ SetJointAnimation()

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

Joint Animation.

Parameters

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

§ SetJointPosition()

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

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.

§ SetJointPositions()

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

Set the positions of a set of joints.

See also: JointController::SetJointPositions.

Parameters

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

§ SetLaserRetro()

void SetLaserRetro ( const float _retro )

Set the laser retro reflectiveness of the model.

Parameters

[in] _retro Retro reflectance value.

§ SetLinearAccel()

void SetLinearAccel ( const math::Vector3 & _vel )

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

Parameters

[in] _vel The new linear acceleration.

§ SetLinearVel()

void SetLinearVel ( const math::Vector3 & _vel )

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

Parameters

[in] _vel The new linear velocity.

§ SetLinkWorldPose() [1/2]

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

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.

§ SetLinkWorldPose() [2/2]

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

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.

§ SetName()

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

virtualinherited

Set the name of the entity.

Parameters

[in] _name The new name.

Reimplemented from Base.

§ SetParent()

void SetParent ( BasePtr _parent )

inherited

Set the parent.

Parameters

[in] _parent Parent object.

Referenced by Base::Update().

§ 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]	_pose	The new pose.
[in]	_notify	True = tell children of the pose change.
[in]	_publish	True 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] _v Set to True if the object should be saved.

Referenced by Base::Update().

§ SetScale() [1/2]

void SetScale ( const math::Vector3 & _scale )

Set the scale of model.

Parameters

[in] _scale Scale to set the model to.

Deprecated:: See function that accepts ignition::math parameters

§ SetScale() [2/2]

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

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

§ SetSelected()

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.

Referenced by Base::Update().

§ SetSelfCollide()

void SetSelfCollide ( bool _self_collide )

Set this model's self_collide property.

See also: GetSelfCollide

Parameters

[in] _self_collide True if self-collisions enabled by default.

§ SetState()

void SetState ( const ModelState & _state )

Set the current model state.

Parameters

[in] _state State to set the model to.

§ SetStatic()

void SetStatic ( const bool & _static )

inherited

Set whether this entity is static: immovable.

Parameters

[in] _static True = static.

§ 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] _newWorld The 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]	_pose	The new world pose.
[in]	_notify	True = tell children of the pose change.
[in]	_publish	True 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]	_linear	Linear twist.
[in]	_angular	Angular twist.
[in]	_updateChildren	True to pass this update to child entities.

§ shared_from_this()

boost::shared_ptr<Model> shared_from_this ( )

Allow Model class to share itself as a boost shared_ptr.

Returns: a shared pointer to itself

§ StopAnimation()

virtual void StopAnimation ( )

virtual

Stop the current animations.

Reimplemented from Entity.

§ UnscaledSDF()

virtual const sdf::ElementPtr UnscaledSDF ( )

virtual

§ Update()

void Update ( )

virtual

Update the model.

Reimplemented from Base.

§ UpdateParameters()

virtual void UpdateParameters ( sdf::ElementPtr _sdf )

virtual

Update the parameters using new sdf values.

Parameters

[in] _sdf SDF values to update from.

Reimplemented from Entity.

Reimplemented in Actor.

Member Data Documentation

§ 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.

§ attachedModels

std::vector<ModelPtr> attachedModels

protected

used by Model::AttachStaticModel

§ attachedModelsOffset

std::vector<math::Pose> attachedModelsOffset

protected

used by Model::AttachStaticModel

§ 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.

§ jointPub

transport::PublisherPtr jointPub

protected

Publisher for joint info.

§ 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.

§ 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:

Model.hh

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

§ EntityType

Constructor & Destructor Documentation

§ Model()

§ ~Model()

Member Function Documentation

§ AddChild()

§ AddType()

§ AttachStaticModel()

§ ComputeScopedName()

§ CreateJoint()

§ CreateLink()

§ DetachStaticModel()

§ FillMsg()

§ Fini()

§ GetAutoDisable()

§ GetBoundingBox()

§ GetByName()

§ GetChild() [1/2]

§ GetChild() [2/2]

§ GetChildCollision()

§ GetChildCount()

§ GetChildLink()

§ GetCollisionBoundingBox()

§ GetDirtyPose()

§ GetGripper()

§ GetGripperCount()

§ GetId()

§ GetInitialRelativePose()

§ GetJoint()

§ GetJointController()

§ GetJointCount()

§ GetJoints()

§ GetLink()

§ GetLinks()

§ GetName()

§ GetNearestEntityBelow()

§ GetParent()

§ GetParentId()

§ GetParentModel()

§ GetPluginCount()

§ GetRelativeAngularAccel()

§ GetRelativeAngularVel()

§ GetRelativeLinearAccel()

§ GetRelativeLinearVel()

§ GetRelativePose()

§ GetSaveable()

§ GetScopedName()

§ GetSDF()

§ GetSelfCollide()

§ GetSensorCount()

§ GetType()

§ GetWorld()

§ GetWorldAngularAccel()

§ GetWorldAngularVel()

§ GetWorldEnergy()

§ GetWorldEnergyKinetic()

§ GetWorldEnergyPotential()

§ GetWorldLinearAccel()

§ GetWorldLinearVel()

§ GetWorldPose()

§ HasType()

§ Init()

§ IsCanonicalLink()

§ IsSelected()

§ IsStatic()

§ Load()

§ LoadJoints()

§ LoadPlugins()

§ NestedModel()

§ NestedModels()

§ OnPoseChange()

§ operator==()

§ PlaceOnEntity()

§ PlaceOnNearestEntityBelow()