Model Class Reference

A model. More...

#include <Model.hh>

Inheritance diagram for Model:

List of all members.

Public Member Functions
	Model (BasePtr parent)
	Constructor.
virtual	~Model ()
	Destructor.
void	Load (sdf::ElementPtr &_sdf)
	Load the model.
virtual void	Init ()
	Initialize the model.
void	Update ()
	Update the model.
virtual void	Fini ()
	Finalize the model.
virtual void	UpdateParameters (sdf::ElementPtr &_sdf)
	update the parameters using new sdf values
virtual const sdf::ElementPtr &	GetSDF ()
	Get the SDF values for the model.
virtual void	RemoveChild (EntityPtr child)
	Remove a child.
void	Reset ()
	Reset the model.
void	SetLinearVel (const math::Vector3 &vel)
	Set the linear velocity of the model.
void	SetAngularVel (const math::Vector3 &vel)
	Set the angular velocity of the model.
void	SetLinearAccel (const math::Vector3 &vel)
	Set the linear acceleration of the model.
void	SetAngularAccel (const math::Vector3 &vel)
	Set the angular acceleration of the model.
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.
virtual math::Box	GetBoundingBox () const
	Get the size of the bounding box.
unsigned int	GetJointCount () const
	Get the number of joints.
JointPtr	GetJoint (unsigned int index) const
	Get a joing by index.
JointPtr	GetJoint (const std::string &name)
	Get a joint.
LinkPtr	GetLinkById (unsigned int _id) const
	Get a link by id.
LinkPtr	GetLink (const std::string &name="canonical") const
	Get a link by name.
void	SetGravityMode (const bool &v)
	Set the gravity mode of the model.
void	SetCollideMode (const std::string &m)
	Set the collide mode of the model.
void	SetLaserRetro (const float &retro)
	Set the laser retro reflectiveness of the model.
void	FillModelMsg (msgs::Model &_msg)
	Fill a model message.
void	ProcessMsg (const msgs::Model &_msg)
	Update parameters from a model message.
void	SetJointPositions (const std::map< std::string, double > &_jointPositions)
	Set the positions of a set of joints.
void	SetJointAnimation (const std::map< std::string, common::NumericAnimationPtr > anim, boost::function< void()> _onComplete)
void	AttachStaticModel (ModelPtr &_model, math::Pose _offset)
	Attach a static model to this model.
void	DetachStaticModel (const std::string &_model)
Protected Member Functions
virtual void	OnPoseChange ()
	This function is called when the entity's (or one of its parents) pose of the parent has changed.
Protected Attributes
std::vector< ModelPtr >	attachedModels
std::vector< math::Pose >	attachedModelsOffset

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Detailed Description

A model.

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Constructor & Destructor Documentation

Model

(

BasePtr

parent

)

Constructor.

Parameters:

parent

Parent object

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Member Function Documentation

void FillModelMsg

(

msgs::Model &

_msg

)

Fill a model message.

Parameters:

_msg	Message to fill

virtual math::Box GetBoundingBox

(

)

const [virtual]

Get the size of the bounding box.

Returns:

The bounding box

Reimplemented from Entity.

JointPtr GetJoint

(

unsigned int

index

)

const

Get a joing by index.

Parameters:

index

Index of the joint

Returns:

A pointer to the joint

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

unsigned int GetJointCount

(

)

const

Get the number of joints.

Returns:

Get the number of joints

LinkPtr GetLink

(

const std::string &

name = "canonical"

)

const

Get a link by name.

Returns:

Pointer to the link

LinkPtr GetLinkById

(

unsigned int

_id

)

const

Get a link by id.

Returns:

Pointer to the link

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.

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.

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.

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.

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.

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.

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.

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.

void Load

(

sdf::ElementPtr &

_sdf

)

[virtual]

Load the model.

Parameters:

_sdf	SDF parameters

Reimplemented from Entity.

virtual void RemoveChild

(

EntityPtr

child

)

[virtual]

Remove a child.

Parameters:

child

Remove a child entity

void SetAngularAccel

(

const math::Vector3 &

vel

)

Set the angular acceleration of the model.

Parameters:

vel	The new angular acceleration

void SetAngularVel

(

const math::Vector3 &

vel

)

Set the angular velocity of the model.

Parameters:

vel	The new angular velocity

void SetCollideMode

(

const std::string &

m

)

Set the collide mode of the model.

Parameters:

m	The collision mode

void SetLaserRetro

(

const float &

retro

)

Set the laser retro reflectiveness of the model.

Parameters:

retro

Retro reflectance value

void SetLinearAccel

(

const math::Vector3 &

vel

)

Set the linear acceleration of the model.

Parameters:

vel	The new linear acceleration

void SetLinearVel

(

const math::Vector3 &

vel

)

Set the linear velocity of the model.

Parameters:

vel	The new linear velocity

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

• Model.hh