Physics and dynamics functionality. More...
Modules | |
Bullet Physics | |
Bullet physics engine wrapper. | |
Dart Physics | |
dart physics engine wrapper | |
ODE Physics | |
Open Dynamics Engine physics wrapper. | |
Simbody Physics | |
simbody physics engine wrapper | |
Files | |
file | BulletTypes.hh |
Bullet wrapper forward declarations and typedefs. | |
file | DARTTypes.hh |
DART wrapper forward declarations and typedefs. | |
file | PhysicsTypes.hh |
default namespace for gazebo | |
file | SimbodyTypes.hh |
Simbody wrapper forward declarations and typedefs. | |
Namespaces | |
gazebo::physics | |
namespace for physics | |
Classes | |
class | Actor |
Actor class enables GPU based mesh model / skeleton scriptable animation. More... | |
class | BallJoint< T > |
Base class for a ball joint. More... | |
class | Base |
Base class for most physics classes. More... | |
class | BoxShape |
Box geometry primitive. More... | |
class | Collision |
Base class for all collision entities. More... | |
class | CollisionState |
Store state information of a physics::Collision object. More... | |
class | Contact |
A contact between two collisions. More... | |
class | ContactManager |
Aggregates all the contact information generated by the collision detection engine. More... | |
class | CylinderShape |
Cylinder collision. More... | |
class | Entity |
Base class for all physics objects in Gazebo. More... | |
class | FixedJoint< T > |
A fixed joint rigidly connecting two bodies. More... | |
class | FrictionPyramid |
Parameters used for friction pyramid model. More... | |
class | GearboxJoint< T > |
A double axis gearbox joint. More... | |
class | Gripper |
A gripper abstraction. More... | |
class | HeightmapShape |
HeightmapShape collision shape builds a heightmap from an image. More... | |
class | Hinge2Joint< T > |
A two axis hinge joint. More... | |
class | HingeJoint< T > |
A single axis hinge joint. More... | |
class | Inertial |
A class for inertial information about a link. More... | |
class | Joint |
Base class for all joints. More... | |
class | JointController |
A class for manipulating physics::Joint. More... | |
class | JointState |
keeps track of state of a physics::Joint More... | |
class | JointWrench |
Wrench information from a joint. More... | |
class | Light |
A light entity. More... | |
class | LightState |
Store state information of a Light object. More... | |
class | Link |
Link class defines a rigid body entity, containing information on inertia, visual and collision properties of a rigid body. More... | |
class | LinkState |
Store state information of a physics::Link object. More... | |
class | Logplay |
Open and playback log files that were recorded using LogRecord. More... | |
class | LogPlay |
class | MapShape |
Creates box extrusions based on an image. More... | |
class | MeshShape |
Triangle mesh collision shape. More... | |
class | Model |
A model is a collection of links, joints, and plugins. More... | |
class | ModelState |
Store state information of a physics::Model object. More... | |
class | MultiRayShape |
Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner. More... | |
class | PhysicsEngine |
Base class for a physics engine. More... | |
class | PhysicsFactory |
The physics factory instantiates different physics engines. More... | |
class | PlaneShape |
Collision for an infinite plane. More... | |
class | PolylineShape |
Polyline geometry primitive. More... | |
class | Population |
Class that automatically populates an environment with multiple objects based on several parameters to define the number of objects, shape of the object distribution or type of distribution. More... | |
class | PopulationParams |
Stores all the posible parameters that define a population. More... | |
class | QuadNode |
class | RayShape |
Base class for Ray collision geometry. More... | |
class | Road |
for building a Road from SDF More... | |
class | ScrewJoint< T > |
A screw joint, which has both prismatic and rotational DOFs. More... | |
class | Shape |
Base class for all shapes. More... | |
class | SliderJoint< T > |
A slider joint. More... | |
class | SphereShape |
Sphere collision shape. More... | |
class | State |
State of an entity. More... | |
class | SurfaceParams |
SurfaceParams defines various Surface contact parameters. More... | |
class | UniversalJoint< T > |
A universal joint. More... | |
class | World |
The world provides access to all other object within a simulated environment. More... | |
class | WorldState |
Store state information of a physics::World object. More... | |
Macros | |
#define | GZ_REGISTER_PHYSICS_ENGINE(name, classname) |
Static physics registration macro. More... | |
Typedefs | |
typedef PhysicsEnginePtr(* | PhysicsFactoryFn) (WorldPtr world) |
Functions | |
WorldPtr | create_world (const std::string &_name="") |
Create a world given a name. More... | |
bool | fini () |
Finalize transport by calling gazebo::transport::fini. More... | |
WorldPtr | get_world (const std::string &_name="") |
Returns a pointer to a world by name. More... | |
uint32_t | getUniqueId () |
Get a unique ID. More... | |
void | init_world (WorldPtr _world) |
Init world given a pointer to it. More... | |
void | init_worlds () |
initialize multiple worlds stored in static variable gazebo::g_worlds More... | |
bool | load () |
Setup gazebo::SystemPlugin's and call gazebo::transport::init. More... | |
void | load_world (WorldPtr _world, sdf::ElementPtr _sdf) |
Load world from sdf::Element pointer. More... | |
void | load_worlds (sdf::ElementPtr _sdf) |
load multiple worlds from single sdf::Element pointer More... | |
void | pause_world (WorldPtr _world, bool _pause) |
Pause world by calling World::SetPaused. More... | |
void | pause_worlds (bool pause) |
pause multiple worlds stored in static variable gazebo::g_worlds More... | |
void | remove_worlds () |
remove multiple worlds stored in static variable gazebo::g_worlds More... | |
void | run_world (WorldPtr _world, unsigned int _iterations=0) |
Run world by calling World::Run() given a pointer to it. More... | |
void | run_worlds (unsigned int _iterations=0) |
Run multiple worlds stored in static variable gazebo::g_worlds. More... | |
void | stop_world (WorldPtr _world) |
Stop world by calling World::Stop() given a pointer to it. More... | |
void | stop_worlds () |
stop multiple worlds stored in static variable gazebo::g_worlds More... | |
bool | worlds_running () |
Return true if any world is running. More... | |
Variables | |
static std::string | EntityTypename [] |
String names for the different entity types. More... | |
Physics and dynamics functionality.
#define GZ_REGISTER_PHYSICS_ENGINE | ( | name, | |
classname | |||
) |
Static physics registration macro.
Use this macro to register physics engine with the server.
[in] | name | Physics type name, as it appears in the world file. |
[in] | classname | C++ class name for the physics engine. |
typedef PhysicsEnginePtr(* PhysicsFactoryFn) (WorldPtr world) |
WorldPtr gazebo::physics::create_world | ( | const std::string & | _name = "" | ) |
Create a world given a name.
[in] | _name | Name of the world to create. |
bool gazebo::physics::fini | ( | ) |
Finalize transport by calling gazebo::transport::fini.
WorldPtr gazebo::physics::get_world | ( | const std::string & | _name = "" | ) |
Returns a pointer to a world by name.
[in] | _name | Name of the world to get. |
uint32_t gazebo::physics::getUniqueId | ( | ) |
Get a unique ID.
void gazebo::physics::init_world | ( | WorldPtr | _world | ) |
Init world given a pointer to it.
[in] | _world | World to initialize. |
void gazebo::physics::init_worlds | ( | ) |
initialize multiple worlds stored in static variable gazebo::g_worlds
bool gazebo::physics::load | ( | ) |
Setup gazebo::SystemPlugin's and call gazebo::transport::init.
void gazebo::physics::load_world | ( | WorldPtr | _world, |
sdf::ElementPtr | _sdf | ||
) |
Load world from sdf::Element pointer.
[in] | _world | Pointer to a world. |
[in] | _sdf | SDF values to load from. |
void gazebo::physics::load_worlds | ( | sdf::ElementPtr | _sdf | ) |
load multiple worlds from single sdf::Element pointer
[in] | _sdf | SDF values used to create worlds. |
void gazebo::physics::pause_world | ( | WorldPtr | _world, |
bool | _pause | ||
) |
Pause world by calling World::SetPaused.
[in] | _world | World to pause or unpause. |
[in] | _pause | True to pause, False to unpause. |
void gazebo::physics::pause_worlds | ( | bool | pause | ) |
pause multiple worlds stored in static variable gazebo::g_worlds
[in] | _pause | True to pause, False to unpause. |
void gazebo::physics::remove_worlds | ( | ) |
remove multiple worlds stored in static variable gazebo::g_worlds
void gazebo::physics::run_world | ( | WorldPtr | _world, |
unsigned int | _iterations = 0 |
||
) |
Run world by calling World::Run() given a pointer to it.
[in] | _world | World to run. |
[in] | _iterations | Number of iterations for each world to take. Zero indicates that each world should continue forever. |
void gazebo::physics::run_worlds | ( | unsigned int | _iterations = 0 | ) |
Run multiple worlds stored in static variable gazebo::g_worlds.
[in] | _iterations | Number of iterations for each world to take. Zero indicates that each world should continue forever. |
void gazebo::physics::stop_world | ( | WorldPtr | _world | ) |
Stop world by calling World::Stop() given a pointer to it.
[in] | _world | World to stop. |
void gazebo::physics::stop_worlds | ( | ) |
stop multiple worlds stored in static variable gazebo::g_worlds
bool gazebo::physics::worlds_running | ( | ) |
Return true if any world is running.
|
static |
String names for the different entity types.