Base class for all physics objects in Gazebo. More...

#include <Entity.hh>

Inheritance diagram for Entity:

Public Member Functions
	Entity (BasePtr parent)
	Constructor.
virtual	~Entity ()
	Destructor.
virtual void	Load (sdf::ElementPtr &_sdf)
	Load.
virtual void	Fini ()
	Finalize the entity.
virtual void	Reset ()
virtual void	UpdateParameters (sdf::ElementPtr &_sdf)
	Update the parameters using new sdf values.
virtual void	SetName (const std::string &name)
	Set the name of the entity.
void	SetStatic (const bool &s)
	Set whether this entity is static: immovable.
bool	IsStatic () const
	Return whether this entity is static.
void	SetInitialRelativePose (const math::Pose &p)
	Set the initial pose.
virtual math::Box	GetBoundingBox () const
	Return the bounding box for the entity.
const math::Pose &	GetWorldPose () const
	Get the absolute pose of the entity.
math::Pose	GetRelativePose () const
	Get the pose of the entity relative to its parent.
void	SetRelativePose (const math::Pose &pose, bool notify=true)
	Set the pose of the entity relative to its parent.
void	SetWorldPose (const math::Pose &pose, bool notify=true)
	Set the world pose of the entity.
virtual math::Vector3	GetRelativeLinearVel () const
	Get the linear velocity of the entity.
virtual math::Vector3	GetWorldLinearVel () const
	Get the linear velocity of the entity in the world frame.
virtual math::Vector3	GetRelativeAngularVel () const
	Get the angular velocity of the entity.
virtual math::Vector3	GetWorldAngularVel () const
	Get the angular velocity of the entity in the world frame.
virtual math::Vector3	GetRelativeLinearAccel () const
	Get the linear acceleration of the entity.
virtual math::Vector3	GetWorldLinearAccel () const
	Get the linear acceleration of the entity in the world frame.
virtual math::Vector3	GetRelativeAngularAccel () const
	Get the angular acceleration of the entity.
virtual math::Vector3	GetWorldAngularAccel () const
	Get the angular acceleration of the entity in the world frame.
void	SetCanonicalLink (bool _value)
	Set to true if this entity is a canonical link for a model.
bool	IsCanonicalLink () const
	A helper function that checks if this is a canonical body.
void	SetAnimation (const common::PoseAnimationPtr &_anim, boost::function< void()> _onComplete)
	Set an animation for this entity.
void	SetAnimation (const common::PoseAnimationPtr &_anim)
ModelPtr	GetParentModel ()
	Get the parent model, if one exists.
CollisionPtr	GetChildCollision (const std::string &_name)
	Get a child collision entity, if one exists.
LinkPtr	GetChildLink (const std::string &_name)
	Get a child linke entity, if one exists.
void	GetNearestEntityBelow (double &_distBelow, std::string &_entityName)
	Get the distance to the nearest entity below (along the Z-axis) this entity.
void	PlaceOnNearestEntityBelow ()
	Move this entity to be ontop of the nearest entity below.
math::Box	GetCollisionBoundingBox () const
void	SetWorldTwist (const math::Vector3 &linear, const math::Vector3 &angular, bool updateChildren=true)
const math::Pose &	GetDirtyPose () const
Protected Member Functions
virtual void	OnPoseChange ()=0
	This function is called when the entity's (or one of its parents) pose of the parent has changed.
Protected Attributes
EntityPtr	parentEntity
	A helper that prevents numerous dynamic_casts.
transport::NodePtr	node
transport::PublisherPtr	visPub
transport::PublisherPtr	requestPub
msgs::Visual *	visualMsg
msgs::Pose *	poseMsg
common::PoseAnimationPtr	animation
common::Time	prevAnimationTime
math::Pose	animationStartPose
std::vector< event::ConnectionPtr >	connections
event::ConnectionPtr	animationConnection
math::Pose	dirtyPose

Detailed Description

Base class for all physics objects in Gazebo.

Constructor & Destructor Documentation

Entity ( BasePtr parent )

Constructor.

Parameters:

parent Parent of the entity.

Member Function Documentation

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

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

Parameters:

_distBelow	The distance to the nearest entity below
_entityName	The name of the nearest entity below

ModelPtr GetParentModel ( )

Get the parent model, if one exists.

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

virtual math::Vector3 GetRelativeAngularAccel ( ) const [inline, virtual]

Get the angular acceleration of the entity.

Returns:: A math::Vector3 for the acceleration

Reimplemented in Link, Collision, and Model.

virtual math::Vector3 GetRelativeAngularVel ( ) const [inline, virtual]

Get the angular velocity of the entity.

Returns:: A math::Vector3 for the velocity

Reimplemented in Link, Collision, and Model.

virtual math::Vector3 GetRelativeLinearAccel ( ) const [inline, virtual]

Get the linear acceleration of the entity.

Returns:: A math::Vector3 for the acceleration

Reimplemented in Link, Collision, and Model.

virtual math::Vector3 GetRelativeLinearVel ( ) const [inline, virtual]

Get the linear velocity of the entity.

Returns:: A math::Vector3 for the linear velocity

Reimplemented in Link, Collision, and Model.

virtual math::Vector3 GetWorldAngularAccel ( ) const [inline, virtual]

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

Returns:: A math::Vector3 for the acceleration

Reimplemented in Link, Collision, and Model.

virtual math::Vector3 GetWorldAngularVel ( ) const [inline, virtual]

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

Returns:: A math::Vector3 for the velocity

Reimplemented in Collision, ODELink, and Model.

virtual math::Vector3 GetWorldLinearAccel ( ) const [inline, virtual]

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

Returns:: A math::Vector3 for the acceleration

Reimplemented in Link, Collision, and Model.

virtual math::Vector3 GetWorldLinearVel ( ) const [inline, virtual]

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

Returns:: A math::Vector3 for the linear velocity

Reimplemented in Collision, ODELink, and Model.

bool IsStatic ( ) const

Return whether this entity is static.

Returns:: bool True = static

virtual void Load ( sdf::ElementPtr & _sdf ) [virtual]

Load.

Parameters:

node	Pointer to an configuration node

Reimplemented from Base.

Reimplemented in Model, Link, ODELink, ODECollision, and Collision.

void SetCanonicalLink ( bool _value )

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

Parameters:

_value True if the link is canonical.

void SetInitialRelativePose ( const math::Pose & p )

Set the initial pose.

Parameters:

p	The initial pose

virtual void SetName ( const std::string & name ) [virtual]

Set the name of the entity.

Parameters:

name	The new name

Reimplemented from Base.

void SetRelativePose	(	const math::Pose &	pose,
		bool	notify = `true`
	)

Set the pose of the entity relative to its parent.

Parameters:

pose	The new pose
notify	True = tell children of the pose change

void SetStatic ( const bool & s )

Set whether this entity is static: immovable.

Parameters:

s	Bool, true = static

void SetWorldPose	(	const math::Pose &	pose,
		bool	notify = `true`
	)

Set the world pose of the entity.

Parameters:

pose	The new world pose
notify	True = tell children of the pose change

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

Entity.hh

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation