Creates box extrusions based on an image. More...
#include <physics/physics.hh>
Inherits Shape.
Public Types | |
enum | EntityType { BASE = 0x00000000, ENTITY = 0x00000001, MODEL = 0x00000002, LINK = 0x00000004, COLLISION = 0x00000008, 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, ACTOR = 0x00008000, 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 | |
MapShape (CollisionPtr _parent) | |
Constructor. More... | |
virtual | ~MapShape () |
Destructor. More... | |
void | AddChild (BasePtr _child) |
Add a child to this entity. More... | |
void | AddType (EntityType _type) |
Add a type specifier. More... | |
virtual double | ComputeVolume () const |
Get the volume of this shape. More... | |
void | FillMsg (msgs::Geometry &_msg) |
Fills out a msgs::Geometry message containing information about this map geometry object. More... | |
virtual void | Fini () |
Finialize the object. More... | |
BasePtr | GetByName (const std::string &_name) |
Get by name. More... | |
BasePtr | GetChild (const std::string &_name) |
Get a child by name. More... | |
BasePtr | GetChild (unsigned int _i) const |
Get a child by index. More... | |
unsigned int | GetChildCount () const |
Get the number of children. More... | |
int | GetGranularity () const |
Returns granularity of this geometry. More... | |
double | GetHeight () const |
Returns height of this geometry. More... | |
uint32_t | GetId () const |
Return the ID of this entity. More... | |
std::string | GetName () const |
Return the name of the entity. More... | |
BasePtr | GetParent () const |
Get the parent. More... | |
int | GetParentId () const |
Return the ID of the 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 object. More... | |
int | GetThreshold () const |
Returns image threshold for this geometry. More... | |
unsigned int | GetType () const |
Get the full type definition. More... | |
std::string | GetURI () const |
Returns the image URI for this geometry. More... | |
const WorldPtr & | GetWorld () const |
Get the World this object is in. More... | |
bool | HasType (const EntityType &_t) const |
Returns true if this object's type definition has the given type. More... | |
virtual void | Init () |
Init the map. More... | |
bool | IsSelected () const |
True if the entity is selected by the user. More... | |
virtual void | Load (sdf::ElementPtr _sdf) |
Load the map. More... | |
bool | operator== (const Base &_ent) const |
Returns true if the entities are the same. More... | |
void | Print (const std::string &_prefix) |
Print this object to screen via gzmsg. More... | |
virtual void | ProcessMsg (const msgs::Geometry &_msg) |
\TODO: Implement this function. More... | |
void | RemoveChild (const std::string &_name) |
Remove a child by name. More... | |
void | RemoveChild (physics::BasePtr _child) |
Remove a child by pointer. More... | |
virtual void | RemoveChild (unsigned int _id) |
Remove a child from this entity. More... | |
void | RemoveChildren () |
Remove all children. More... | |
virtual void | Reset () |
Reset the object. More... | |
virtual void | Reset (Base::EntityType _resetType) |
Calls recursive Reset on one of the Base::EntityType's. More... | |
virtual ignition::math::Vector3d | Scale () const |
Returns scaling factor for this geometry. More... | |
ignition::math::Pose3d | SDFPoseRelativeToParent () const |
Get the SDF pose of the object according to the sdf 1.6 convention. More... | |
virtual std::optional< sdf::SemanticPose > | SDFSemanticPose () const |
Get the SDF SemanticPose object associated with the pose of this object. More... | |
virtual void | SetName (const std::string &_name) |
Set the name of the entity. More... | |
void | SetParent (BasePtr _parent) |
Set the 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 ignition::math::Vector3d &_scale) |
Set the scale of the map shape. More... | |
virtual bool | SetSelected (bool _show) |
Set whether this entity has been selected by the user through the gui. More... | |
void | SetWorld (const WorldPtr &_newWorld) |
Set the world this object belongs to. More... | |
std::string | TypeStr () const |
Get the string name for the entity type. More... | |
void | Update () |
Update function. More... | |
virtual void | UpdateParameters (sdf::ElementPtr _sdf) |
Update the parameters using new sdf values. More... | |
common::URI | URI () const |
Return the common::URI of this entity. More... | |
Protected Member Functions | |
void | ComputeScopedName () |
Compute the scoped name of this object based on its parents. More... | |
virtual void | RegisterIntrospectionItems () |
Register items in the introspection service. More... | |
virtual void | UnregisterIntrospectionItems () |
Unregister items in the introspection service. More... | |
Protected Attributes | |
Base_V | children |
Children of this entity. More... | |
CollisionPtr | collisionParent |
This shape's collision parent. More... | |
std::vector< common::URI > | introspectionItems |
All the introspection items regsitered for this. More... | |
BasePtr | parent |
Parent of this entity. More... | |
ignition::math::Vector3d | scale = ignition::math::Vector3d::One |
This shape's scale;. More... | |
sdf::ElementPtr | sdf |
The SDF values for this object. More... | |
WorldPtr | world |
Pointer to the world. More... | |
Creates box extrusions based on an image.
This function is not yet complete, to be implemented.
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inherited |
Unique identifiers for all entity types.
Enumerator | |
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BASE | Base type. |
ENTITY | Entity type. |
MODEL | Model type. |
LINK | Link type. |
COLLISION | Collision 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. |
ACTOR | Actor 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. |
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explicit |
Constructor.
[in] | _parent | Parent collision object. |
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virtual |
Destructor.
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inherited |
Add a child to this entity.
[in] | _child | Child entity. |
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inherited |
Add a type specifier.
[in] | _type | New type to append to this objects type definition. |
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protectedinherited |
Compute the scoped name of this object based on its parents.
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virtualinherited |
Get the volume of this shape.
Implemented accurately for simple shapes; an approximation is used for meshes, polylines, etc.
Reimplemented in SphereShape, RayShape, PlaneShape, MultiRayShape, HeightmapShape, CylinderShape, and BoxShape.
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virtual |
Fills out a msgs::Geometry message containing information about this map geometry object.
[in] | _msg | Message to fill with this object's data. |
Implements Shape.
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virtualinherited |
Finialize the object.
Reimplemented in ODEJoint, Model, Link, Joint, Collision, BulletJoint, SimbodyLink, Road, ODELink, ODECollision, Entity, DARTModel, DARTLink, DARTCollision, BulletLink, and Actor.
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inherited |
Get by name.
[in] | _name | Get a child (or self) object by name |
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inherited |
Get a child by name.
[in] | _name | Name of the child. |
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inherited |
Get a child by index.
[in] | _i | Index of the child to retreive. |
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inherited |
Get the number of children.
int GetGranularity | ( | ) | const |
Returns granularity of this geometry.
double GetHeight | ( | ) | const |
Returns height of this geometry.
All regions in image with value larger than MapShape::scale will be replaced by boxes with MapShape::height.
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inherited |
Return the ID of this entity.
This id is unique.
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inherited |
Return the name of the entity.
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inherited |
Get the parent.
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inherited |
Return the ID of the parent.
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inherited |
Get whether the object should be "saved", when the user selects to save the world to xml.
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inherited |
Return the name of this entity with the model scope model1::...::modelN::entityName.
[in] | _prependWorldName | True to prended the returned string with the world name. The result will be world::model1::...::modelN::entityName. |
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virtualinherited |
int GetThreshold | ( | ) | const |
Returns image threshold for this geometry.
All regions in image with value larger than MapShape::scale will be replaced by boxes with MapShape::height.
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inherited |
Get the full type definition.
std::string GetURI | ( | ) | const |
Returns the image URI for this geometry.
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inherited |
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inherited |
Returns true if this object's type definition has the given type.
[in] | _t | Type to check. |
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virtual |
Init the map.
Implements Shape.
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inherited |
True if the entity is selected by the user.
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virtual |
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inherited |
Returns true if the entities are the same.
Checks only the name.
[in] | _ent | Base object to compare with. |
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inherited |
Print this object to screen via gzmsg.
[in] | _prefix | Usually a set of spaces. |
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virtual |
\TODO: Implement this function.
[in] | _msg | Message to process, which will alter the map. |
Implements Shape.
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protectedvirtualinherited |
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inherited |
Remove a child by name.
[in] | _name | Name of the child. |
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inherited |
Remove a child by pointer.
[in] | _child | Pointer to the child. |
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virtualinherited |
Remove a child from this entity.
[in] | _id | ID of the child to remove. |
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inherited |
Remove all children.
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virtualinherited |
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virtualinherited |
Calls recursive Reset on one of the Base::EntityType's.
[in] | _resetType | The type of reset operation |
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virtual |
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inherited |
Get the SDF pose of the object according to the sdf 1.6 convention.
This convention is that the pose of an element is relative to its parent XML element, except for joints, whose pose is relative to the child link.
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virtualinherited |
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virtualinherited |
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inherited |
Set the parent.
[in] | _parent | Parent object. |
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inherited |
Set whether the object should be "saved", when the user selects to save the world to xml.
[in] | _v | Set to True if the object should be saved. |
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virtual |
Set the scale of the map shape.
[in] | _scale | Scale to set the map shape to. |
Implements Shape.
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virtualinherited |
Set whether this entity has been selected by the user through the gui.
[in] | _show | True to set this entity as selected. |
Reimplemented in Link.
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inherited |
Set the world this object belongs to.
This will also set the world for all children.
[in] | _newWorld | The new World this object is part of. |
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inherited |
Get the string name for the entity type.
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protectedvirtualinherited |
Unregister items in the introspection service.
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virtual |
Update function.
Reimplemented from Base.
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virtualinherited |
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inherited |
Return the common::URI of this entity.
The URI includes the world where the entity is contained and all the hierarchy of sub-entities that can compose this entity. E.g.: A link entity contains the name of the link and the model where the link is contained.
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protectedinherited |
Children of this entity.
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protectedinherited |
This shape's collision parent.
Referenced by BulletPlaneShape::CreatePlane(), ODEPlaneShape::CreatePlane(), ODEPlaneShape::SetAltitude(), BulletSphereShape::SetRadius(), ODESphereShape::SetRadius(), SimbodySphereShape::SetRadius(), BulletBoxShape::SetSize(), ODEBoxShape::SetSize(), SimbodyBoxShape::SetSize(), BulletCylinderShape::SetSize(), ODECylinderShape::SetSize(), and SimbodyCylinderShape::SetSize().
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protectedinherited |
All the introspection items regsitered for this.
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protectedinherited |
Parent of this entity.
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protectedinherited |
This shape's scale;.
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protectedinherited |
The SDF values for this object.
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protectedinherited |
Pointer to the world.