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17 #ifndef GAZEBO_PHYSICS_LINK_HH_
18 #define GAZEBO_PHYSICS_LINK_HH_
23 #include <ignition/math/Matrix3.hh>
59 public:
virtual ~
Link();
63 public:
virtual void Load(sdf::ElementPtr _sdf)
override;
66 public:
virtual void Init()
override;
69 public:
void Fini()
override;
72 public:
void Reset()
override;
76 public:
void ResetPhysicsStates();
80 public:
virtual void UpdateParameters(sdf::ElementPtr _sdf)
override;
89 public:
void SetScale(
const ignition::math::Vector3d &_scale);
93 public:
virtual void SetEnabled(
bool _enable)
const = 0;
97 public:
virtual bool GetEnabled()
const = 0;
102 public:
virtual bool SetSelected(
bool _set)
override;
106 public:
virtual void SetGravityMode(
bool _mode) = 0;
110 public:
virtual bool GetGravityMode()
const = 0;
114 public:
virtual void SetWindMode(
const bool _mode);
118 public:
virtual bool WindMode()
const;
124 public:
virtual void SetSelfCollide(
bool _collide) = 0;
134 public:
void SetCollideMode(
const std::string &_mode);
143 public:
bool GetSelfCollide()
const;
147 public:
void SetLaserRetro(
float _retro);
151 public:
virtual void SetLinearVel(
152 const ignition::math::Vector3d &_vel) = 0;
156 public:
virtual void SetAngularVel(
157 const ignition::math::Vector3d &_vel) = 0;
161 public:
virtual void SetForce(
162 const ignition::math::Vector3d &_force) = 0;
166 public:
virtual void SetTorque(
167 const ignition::math::Vector3d &_torque) = 0;
171 public:
virtual void AddForce(
const ignition::math::Vector3d &_force) = 0;
176 public:
virtual void AddRelativeForce(
177 const ignition::math::Vector3d &_force) = 0;
182 public:
virtual void AddForceAtWorldPosition(
183 const ignition::math::Vector3d &_force,
184 const ignition::math::Vector3d &_pos) = 0;
194 public:
virtual void AddForceAtRelativePosition(
195 const ignition::math::Vector3d &_force,
196 const ignition::math::Vector3d &_relPos) = 0;
204 public:
virtual void AddLinkForce(
205 const ignition::math::Vector3d &_force,
206 const ignition::math::Vector3d &_offset =
207 ignition::math::Vector3d::Zero) = 0;
211 public:
virtual void AddTorque(
212 const ignition::math::Vector3d &_torque) = 0;
217 public:
virtual void AddRelativeTorque(
218 const ignition::math::Vector3d &_torque) = 0;
224 public: ignition::math::Pose3d WorldCoGPose()
const;
229 public:
virtual ignition::math::Vector3d WorldLinearVel()
const override;
238 public:
virtual ignition::math::Vector3d WorldLinearVel(
239 const ignition::math::Vector3d &_offset)
const = 0;
248 public:
virtual ignition::math::Vector3d WorldLinearVel(
249 const ignition::math::Vector3d &_offset,
250 const ignition::math::Quaterniond &_q)
const = 0;
256 public:
virtual ignition::math::Vector3d WorldCoGLinearVel()
const = 0;
260 public: ignition::math::Vector3d RelativeLinearVel()
const override;
264 public: ignition::math::Vector3d RelativeAngularVel()
const override;
268 public: ignition::math::Vector3d RelativeLinearAccel()
const override;
272 public: ignition::math::Vector3d WorldLinearAccel()
const override;
276 public: ignition::math::Vector3d RelativeAngularAccel()
const override;
283 public: ignition::math::Vector3d WorldAngularMomentum()
const;
292 public: ignition::math::Vector3d WorldAngularAccel()
const override;
296 public: ignition::math::Vector3d RelativeForce()
const;
300 public:
virtual ignition::math::Vector3d WorldForce()
const = 0;
304 public: ignition::math::Vector3d RelativeTorque()
const;
309 public:
virtual ignition::math::Vector3d WorldTorque()
const = 0;
321 public:
void SetInertial(
const InertialPtr &_inertial);
328 public: ignition::math::Pose3d WorldInertialPose()
const;
333 public: ignition::math::Matrix3d WorldInertiaMatrix()
const;
340 public:
CollisionPtr GetCollisionById(
unsigned int _id)
const;
346 public:
CollisionPtr GetCollision(
const std::string &_name);
351 public:
CollisionPtr GetCollision(
unsigned int _index)
const;
360 public:
virtual ignition::math::AxisAlignedBox BoundingBox()
const
365 public:
virtual void SetLinearDamping(
double _damping) = 0;
369 public:
virtual void SetAngularDamping(
double _damping) = 0;
373 public:
double GetLinearDamping()
const;
377 public:
double GetAngularDamping()
const;
382 public:
virtual void SetKinematic(
const bool &_kinematic);
395 public:
unsigned int GetSensorCount()
const;
408 public: std::string GetSensorName(
unsigned int _index)
const;
414 std::function<
void (
bool)> _subscriber);
418 public:
void FillMsg(msgs::Link &_msg);
422 public:
void ProcessMsg(
const msgs::Link &_msg);
426 public:
void AddChildJoint(
JointPtr _joint);
430 public:
void AddParentJoint(
JointPtr _joint);
434 public:
void RemoveParentJoint(
const std::string &_jointName);
438 public:
void RemoveChildJoint(
const std::string &_jointName);
441 public:
virtual void RemoveChild(
EntityPtr _child);
447 public:
void AttachStaticModel(
ModelPtr &_model,
448 const ignition::math::Pose3d &_offset);
452 public:
void DetachStaticModel(
const std::string &_modelName);
455 public:
void DetachAllStaticModels();
459 public:
virtual void OnPoseChange()
override;
463 public:
void SetState(
const LinkState &_state);
473 public:
virtual void SetAutoDisable(
bool _disable) = 0;
477 public:
Link_V GetChildJointsLinks()
const;
481 public:
Link_V GetParentJointsLinks()
const;
485 public:
void SetPublishData(
bool _enable);
488 public:
Joint_V GetParentJoints()
const;
491 public:
Joint_V GetChildJoints()
const;
495 public:
void RemoveCollision(
const std::string &_name);
500 public:
double GetWorldEnergyPotential()
const;
505 public:
double GetWorldEnergyKinetic()
const;
511 public:
double GetWorldEnergy()
const;
516 public: msgs::Visual GetVisualMessage(
const std::string &_name)
const;
521 public:
virtual void SetLinkStatic(
bool _static) = 0;
524 public:
virtual void SetStatic(
const bool &_static);
537 public:
void MoveFrame(
538 const ignition::math::Pose3d &_worldReferenceFrameSrc,
539 const ignition::math::Pose3d &_worldReferenceFrameDst,
540 const bool _preserveWorldVelocity =
false);
556 public:
bool FindAllConnectedLinksHelper(
557 const LinkPtr &_originalParentLink,
558 Link_V &_connectedLinks,
bool _fistLink =
false);
562 public:
void SetWindEnabled(
const bool _enable);
567 public:
const ignition::math::Vector3d WorldWindLinearVel()
const;
571 public:
const ignition::math::Vector3d RelativeWindLinearVel()
const;
589 public:
size_t BatteryCount()
const;
595 public:
bool VisualId(
const std::string &_visName, uint32_t &_visualId)
602 public:
bool VisualPose(
const uint32_t _id,
603 ignition::math::Pose3d &_pose)
const;
609 public:
bool SetVisualPose(
const uint32_t _id,
610 const ignition::math::Pose3d &_pose);
614 public:
const sdf::Link *GetSDFDom()
const;
617 public: std::optional<sdf::SemanticPose> SDFSemanticPose()
const override;
625 public:
const Visuals_M &Visuals()
const;
628 private:
void PublishData();
632 private:
void LoadCollision(sdf::ElementPtr _sdf);
636 private:
void LoadLight(sdf::ElementPtr _sdf);
640 private:
void SetInertialFromCollisions();
644 private:
void OnCollision(ConstContactsPtr &_msg);
647 private:
void ParseVisuals();
653 private:
bool ContainsLink(
const Link_V &_vector,
const LinkPtr &_value);
657 private:
void UpdateVisualGeomSDF(
const ignition::math::Vector3d &_scale);
660 private:
void UpdateVisualMsg();
665 private:
void OnWrenchMsg(ConstWrenchPtr &_msg);
669 private:
void ProcessWrenchMsg(
const msgs::Wrench &_msg);
673 private:
void LoadBattery(
const sdf::ElementPtr _sdf);
676 protected:
virtual void RegisterIntrospectionItems()
override;
688 protected:
bool initialized =
false;
691 private: std::unique_ptr<LinkPrivate> dataPtr;
std::string GetSensorName(unsigned int _index) const
Get sensor name.
virtual void SetStatic(const bool &_static)
void SetWindEnabled(const bool _enable)
Enable/disable wind for this link.
InertialPtr GetInertial() const
Get the inertia of the link.
Definition: Link.hh:317
bool VisualId(const std::string &_visName, uint32_t &_visualId) const
Get the unique ID of a visual.
std::vector< JointPtr > Joint_V
Definition: PhysicsTypes.hh:214
virtual void Update()
Update the object.
Definition: Base.hh:166
const ignition::math::Vector3d RelativeWindLinearVel() const
Returns this link's wind velocity.
Visuals_M visuals
Link visual elements.
Definition: Link.hh:682
bool VisualPose(const uint32_t _id, ignition::math::Pose3d &_pose) const
Get the pose of a visual.
Collision_V GetCollisions() const
Get all the child collisions.
Forward declarations for the common classes.
Definition: Animation.hh:26
virtual void AddLinkForce(const ignition::math::Vector3d &_force, const ignition::math::Vector3d &_offset=ignition::math::Vector3d::Zero)=0
Add a force expressed in the link frame.
unsigned int GetSensorCount() const
Get sensor count.
ignition::math::Vector3d WorldAngularAccel() const override
Get the angular acceleration of the body in the world frame, which is computed as (I^-1 * (T - w x L)...
Joint_V GetParentJoints() const
Get the parent joints.
ignition::math::Vector3d RelativeAngularVel() const override
Get the angular velocity of the body.
virtual void SetLinearVel(const ignition::math::Vector3d &_vel)=0
Set the linear velocity of the body.
virtual ~Link()
Destructor.
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:94
virtual void SetLinkStatic(bool _static)=0
Freeze link to ground (inertial frame).
void MoveFrame(const ignition::math::Pose3d &_worldReferenceFrameSrc, const ignition::math::Pose3d &_worldReferenceFrameDst, const bool _preserveWorldVelocity=false)
Move Link given source and target frames specified in world coordinates.
double GetWorldEnergyPotential() const
Returns this link's potential energy, based on position in world frame and gravity.
void RemoveCollision(const std::string &_name)
Remove a collision from the link.
double GetAngularDamping() const
Get the angular damping factor.
virtual void SetWindMode(const bool _mode)
Set whether wind affects this body.
virtual void AddForceAtWorldPosition(const ignition::math::Vector3d &_force, const ignition::math::Vector3d &_pos)=0
Add a force to the body using a global position.
virtual void SetGravityMode(bool _mode)=0
Set whether gravity affects this body.
virtual ignition::math::AxisAlignedBox BoundingBox() const override
Get the bounding box for the link and all the child elements.
virtual void UpdateParameters(sdf::ElementPtr _sdf) override
Update the parameters using new sdf values.
virtual void SetAutoDisable(bool _disable)=0
Allow the link to auto disable.
void FillMsg(msgs::Link &_msg)
Fill a link message.
ignition::math::Vector3d RelativeForce() const
Get the force applied to the body.
ignition::math::Pose3d WorldCoGPose() const
Get the pose of the body's center of gravity in the world coordinate frame.
Store state information of a physics::Link object.
Definition: LinkState.hh:47
virtual void Reset()
Reset the entity.
virtual bool GetKinematic() const
\TODO Implement this function.
Definition: Link.hh:387
void SetState(const LinkState &_state)
Set the current link state.
virtual void SetAngularVel(const ignition::math::Vector3d &_vel)=0
Set the angular velocity of the body.
void RemoveParentJoint(const std::string &_jointName)
Remove Joints that have this Link as a child Link.
const ignition::math::Vector3d WorldWindLinearVel() const
Returns this link's wind velocity in the world coordinate frame.
virtual void Init() override
Initialize the body.
virtual bool WindMode() const
Get the wind mode.
CollisionPtr GetCollision(const std::string &_name)
Get a child collision by name.
virtual void SetForce(const ignition::math::Vector3d &_force)=0
Set the force applied to the body.
bool SetVisualPose(const uint32_t _id, const ignition::math::Pose3d &_pose)
Set the pose of a visual.
void SetLaserRetro(float _retro)
Set the laser retro reflectiveness.
event::ConnectionPtr ConnectEnabled(std::function< void(bool)> _subscriber)
Connect to the add entity signal.
double GetLinearDamping() const
Get the linear damping factor.
void SetPublishData(bool _enable)
Enable/Disable link data publishing.
InertialPtr inertial
Inertial properties.
Definition: Link.hh:679
virtual void UpdateSurface()
Update surface parameters.
Definition: Link.hh:469
Link_V GetParentJointsLinks() const
Returns a vector of parent Links connected by joints.
ignition::math::Matrix3d WorldInertiaMatrix() const
Get the inertia matrix in the world frame.
virtual ignition::math::Vector3d WorldForce() const =0
Get the force applied to the body in the world frame.
bool GetSelfCollide() const
Get Self-Collision Flag.
Link class defines a rigid body entity, containing information on inertia, visual and collision prope...
Definition: Link.hh:52
void ProcessMsg(const msgs::Link &_msg)
Update parameters from a message.
double GetWorldEnergy() const
Returns this link's total energy, or sum of Link::GetWorldEnergyPotential() and Link::GetWorldEnergyK...
ignition::math::Vector3d RelativeLinearAccel() const override
Get the linear acceleration of the body.
Link(EntityPtr _parent)
Constructor.
void UpdateWind(const common::UpdateInfo &_info)
Update the wind.
ignition::math::Pose3d WorldInertialPose() const
Get the world pose of the link inertia (cog position and Moment of Inertia frame).
virtual void Load(sdf::ElementPtr _sdf) override
Load the body based on an SDF element.
virtual void AddTorque(const ignition::math::Vector3d &_torque)=0
Add a torque to the body.
std::optional< sdf::SemanticPose > SDFSemanticPose() const override
Get the SDF SemanticPose object associated with the pose of this object.
bool initialized
This flag is set to true when the link is initialized.
Definition: Link.hh:688
void ResetPhysicsStates()
Reset the velocity, acceleration, force and torque of link.
virtual bool GetEnabled() const =0
Get whether this body is enabled in the physics engine.
void SetScale(const ignition::math::Vector3d &_scale)
Set the scale of the link.
virtual void SetAngularDamping(double _damping)=0
Set the angular damping factor.
Link_V GetChildJointsLinks() const
Returns a vector of children Links connected by joints.
std::map< uint32_t, msgs::Visual > Visuals_M
Definition: Link.hh:621
void AttachStaticModel(ModelPtr &_model, const ignition::math::Pose3d &_offset)
Attach a static model to this link.
virtual void RemoveChild(unsigned int _id)
Remove a child from this entity.
void Reset() override
Reset the link.
virtual void RegisterIntrospectionItems() override
Register items in the introspection service.
Joint_V GetChildJoints() const
Get the child joints.
virtual void AddRelativeForce(const ignition::math::Vector3d &_force)=0
Add a force to the body, components are relative to the body's own frame of reference.
void AddChildJoint(JointPtr _joint)
Joints that have this Link as a parent Link.
virtual ignition::math::Vector3d WorldTorque() const =0
Get the torque applied to the body about the center of mass in world frame coordinates.
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
msgs::Visual GetVisualMessage(const std::string &_name) const
Returns the visual message specified by its name.
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:110
ignition::math::Vector3d RelativeLinearVel() const override
Get the linear velocity of the body.
virtual void SetSelfCollide(bool _collide)=0
Set whether this body will collide with others in the model.
ignition::math::Vector3d WorldLinearAccel() const override
Get the linear acceleration of the body in the world frame.
void RemoveChildJoint(const std::string &_jointName)
Remove Joints that have this Link as a parent Link.
virtual bool GetGravityMode() const =0
Get the gravity mode.
virtual bool SetSelected(bool _set) override
Set whether this entity has been selected by the user through the gui.
const sdf::Link * GetSDFDom() const
Get the SDF DOM object of this link.
virtual void AddForce(const ignition::math::Vector3d &_force)=0
Add a force to the body.
virtual void OnPoseChange() override
This function is called when the entity's (or one of its parents) pose of the parent has changed.
void Fini() override
Finalize the body.
boost::shared_ptr< Entity > EntityPtr
Definition: PhysicsTypes.hh:86
ignition::math::Vector3d WorldAngularMomentum() const
Get the angular momentum of the body CoG in the world frame, which is computed as (I * w),...
virtual void AddRelativeTorque(const ignition::math::Vector3d &_torque)=0
Add a torque to the body, components are relative to the body's own frame of reference.
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:118
Base class for all physics objects in Gazebo.
Definition: Entity.hh:52
std::vector< ignition::math::Pose3d > attachedModelsOffset
Offsets for the attached models.
Definition: Link.hh:685
ignition::math::Vector3d RelativeTorque() const
Get the torque applied to the body.
size_t BatteryCount() const
Get the number of batteries in this link.
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.
std::shared_ptr< Battery > BatteryPtr
Definition: CommonTypes.hh:125
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:114
std::vector< LinkPtr > Link_V
Definition: PhysicsTypes.hh:226
virtual void AddForceAtRelativePosition(const ignition::math::Vector3d &_force, const ignition::math::Vector3d &_relPos)=0
Add a force (in world frame coordinates) to the body at a position relative to the center of mass whi...
ModelPtr GetModel() const
Get the model that this body belongs to.
std::vector< CollisionPtr > Collision_V
Definition: PhysicsTypes.hh:230
virtual ignition::math::Vector3d WorldCoGLinearVel() const =0
Get the linear velocity at the body's center of gravity in the world frame.
void SetCollideMode(const std::string &_mode)
Set the collide mode of the body.
void AddParentJoint(JointPtr _joint)
Joints that have this Link as a child Link.
virtual void SetTorque(const ignition::math::Vector3d &_torque)=0
Set the torque applied to the body.
const Visuals_M & Visuals() const
Return the link visual elements.
double GetWorldEnergyKinetic() const
Returns this link's kinetic energy computed using link's CoG velocity in the inertial (world) frame.
virtual void UpdateMass()
Update the mass matrix.
Definition: Link.hh:466
Information for use in an update event.
Definition: UpdateInfo.hh:30
virtual void RemoveChild(EntityPtr _child)
ignition::math::Vector3d RelativeAngularAccel() const override
Get the angular acceleration of the body.
boost::shared_ptr< Inertial > InertialPtr
Definition: PhysicsTypes.hh:158
void SetStatic(const bool &_static)
Set whether this entity is static: immovable.
virtual ignition::math::Vector3d WorldLinearVel() const override
Get the linear velocity of the origin of the link frame, expressed in the world frame.
virtual void SetKinematic(const bool &_kinematic)
\TODO Implement this function.
void SetInertial(const InertialPtr &_inertial)
Set the mass of the link.
void DetachAllStaticModels()
Detach all static models from this link.
virtual void SetEnabled(bool _enable) const =0
Set whether this body is enabled.
virtual void SetLinearDamping(double _damping)=0
Set the linear damping factor.
common::BatteryPtr Battery(const std::string &_name) const
Get a battery by name.
void DetachStaticModel(const std::string &_modelName)
Detach a static model from this link.