Base.hh
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2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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17 
18 #ifndef GAZEBO_PHYSICS_BASE_HH_
19 #define GAZEBO_PHYSICS_BASE_HH_
20 
21 #include <boost/enable_shared_from_this.hpp>
22 #include <optional>
23 #include <string>
24 #include <vector>
25 
26 #include <sdf/sdf.hh>
27 
28 #include "gazebo/common/URI.hh"
30 #include "gazebo/util/system.hh"
31 
32 namespace gazebo
33 {
35  namespace physics
36  {
40 
42  static std::string EntityTypename[] = {
43  "common",
44  "entity",
45  "model",
46  "actor",
47  "link",
48  "collision",
49  "light",
50  "visual",
51  "joint",
52  "ball",
53  "hinge2",
54  "hinge",
55  "slider",
56  "universal",
57  "shape",
58  "box",
59  "cylinder",
60  "heightmap",
61  "map",
62  "multiray",
63  "ray",
64  "plane",
65  "sphere",
66  "trimesh",
67  "polyline"
68  };
69 
72  class GZ_PHYSICS_VISIBLE Base : public boost::enable_shared_from_this<Base>
73  {
76  public: enum EntityType {
78  BASE = 0x00000000,
80  ENTITY = 0x00000001,
82  MODEL = 0x00000002,
84  LINK = 0x00000004,
86  COLLISION = 0x00000008,
88  LIGHT = 0x00000010,
90  VISUAL = 0x00000020,
91 
93  JOINT = 0x00000040,
95  BALL_JOINT = 0x00000080,
97  HINGE2_JOINT = 0x00000100,
99  HINGE_JOINT = 0x00000200,
101  SLIDER_JOINT = 0x00000400,
103  SCREW_JOINT = 0x00000800,
105  UNIVERSAL_JOINT = 0x00001000,
107  GEARBOX_JOINT = 0x00002000,
109  FIXED_JOINT = 0x00004000,
110 
112  ACTOR = 0x00008000,
113 
115  SHAPE = 0x00010000,
117  BOX_SHAPE = 0x00020000,
119  CYLINDER_SHAPE = 0x00040000,
121  HEIGHTMAP_SHAPE = 0x00080000,
123  MAP_SHAPE = 0x00100000,
125  MULTIRAY_SHAPE = 0x00200000,
127  RAY_SHAPE = 0x00400000,
129  PLANE_SHAPE = 0x00800000,
131  SPHERE_SHAPE = 0x01000000,
133  MESH_SHAPE = 0x02000000,
135  POLYLINE_SHAPE = 0x04000000,
136 
138  SENSOR_COLLISION = 0x10000000
139  };
140 
143  public: explicit Base(BasePtr _parent);
144 
146  public: virtual ~Base();
147 
150  public: virtual void Load(sdf::ElementPtr _sdf);
151 
153  public: virtual void Fini();
154 
156  public: virtual void Init() {}
157 
159  public: virtual void Reset();
160 
163  public: virtual void Reset(Base::EntityType _resetType);
164 
166  public: virtual void Update() {}
167 
171  public: virtual void UpdateParameters(sdf::ElementPtr _sdf);
172 
175  public: virtual void SetName(const std::string &_name);
176 
179  public: std::string GetName() const;
180 
183  public: uint32_t GetId() const;
184 
188  public: void SetSaveable(bool _v);
189 
193  public: bool GetSaveable() const;
194 
197  public: int GetParentId() const;
198 
201  public: void SetParent(BasePtr _parent);
202 
205  public: BasePtr GetParent() const;
206 
209  public: void AddChild(BasePtr _child);
210 
213  public: virtual void RemoveChild(unsigned int _id);
214 
216  public: void RemoveChildren();
217 
220  public: unsigned int GetChildCount() const;
221 
227  public: BasePtr GetById(unsigned int _id) const;
229 
233  public: BasePtr GetByName(const std::string &_name);
234 
238  public: BasePtr GetChild(unsigned int _i) const;
239 
243  public: BasePtr GetChild(const std::string &_name);
244 
247  public: void RemoveChild(const std::string &_name);
248 
251  public: void RemoveChild(physics::BasePtr _child);
252 
256  public: void AddType(EntityType _type);
257 
262  public: bool HasType(const EntityType &_t) const;
263 
266  public: unsigned int GetType() const;
267 
270  public: std::string TypeStr() const;
271 
278  public: std::string GetScopedName(bool _prependWorldName = false) const;
279 
286  public: common::URI URI() const;
287 
290  public: void Print(const std::string &_prefix);
291 
295  public: virtual bool SetSelected(bool _show);
296 
299  public: bool IsSelected() const;
300 
305  public: bool operator ==(const Base &_ent) const;
306 
310  public: void SetWorld(const WorldPtr &_newWorld);
311 
314  public: const WorldPtr &GetWorld() const;
315 
318  public: virtual const sdf::ElementPtr GetSDF();
319 
323  public: virtual std::optional<sdf::SemanticPose> SDFSemanticPose() const;
324 
331  public: ignition::math::Pose3d SDFPoseRelativeToParent() const;
332 
334  protected: virtual void RegisterIntrospectionItems();
335 
337  protected: virtual void UnregisterIntrospectionItems();
338 
342  protected: void ComputeScopedName();
343 
345  protected: sdf::ElementPtr sdf;
346 
348  protected: BasePtr parent;
349 
351  protected: Base_V children;
352 
354  protected: WorldPtr world;
355 
357  protected: std::vector<common::URI> introspectionItems;
358 
360  private: bool saveable;
361 
363  private: uint32_t id;
364 
366  private: unsigned int type;
367 
369  private: std::string typeStr;
370 
372  private: bool selected;
373 
375  private: std::string name;
376 
378  private: std::string scopedName;
379 
380  protected: friend class Entity;
381  };
383  }
384 }
385 #endif
void ComputeScopedName()
Compute the scoped name of this object based on its parents.
@ RAY_SHAPE
RayShape type.
Definition: Base.hh:127
@ MULTIRAY_SHAPE
MultiRayShape type.
Definition: Base.hh:125
virtual void Update()
Update the object.
Definition: Base.hh:166
unsigned int GetChildCount() const
Get the number of children.
A complete URI.
Definition: URI.hh:177
virtual void Fini()
Finialize the object.
virtual void UpdateParameters(sdf::ElementPtr _sdf)
Update the parameters using new sdf values.
BasePtr GetByName(const std::string &_name)
Get by name.
common::URI URI() const
Return the common::URI of this entity.
@ SCREW_JOINT
ScrewJoint type.
Definition: Base.hh:103
bool operator==(const Base &_ent) const
Returns true if the entities are the same.
void Print(const std::string &_prefix)
Print this object to screen via gzmsg.
Forward declarations for the common classes.
Definition: Animation.hh:27
@ BASE
Base type.
Definition: Base.hh:78
@ ACTOR
Actor type.
Definition: Base.hh:112
@ GEARBOX_JOINT
GearboxJoint type.
Definition: Base.hh:107
@ MODEL
Model type.
Definition: Base.hh:82
BasePtr GetParent() const
Get the parent.
@ BALL_JOINT
BallJoint type.
Definition: Base.hh:95
@ MESH_SHAPE
MeshShape type.
Definition: Base.hh:133
virtual void SetName(const std::string &_name)
Set the name of the entity.
int GetParentId() const
Return the ID of the parent.
bool IsSelected() const
True if the entity is selected by the user.
@ MAP_SHAPE
MapShape type.
Definition: Base.hh:123
default namespace for gazebo
@ HINGE_JOINT
HingeJoint type.
Definition: Base.hh:99
uint32_t GetId() const
Return the ID of this entity.
@ JOINT
Joint type.
Definition: Base.hh:93
std::string TypeStr() const
Get the string name for the entity type.
BasePtr parent
Parent of this entity.
Definition: Base.hh:348
virtual void Reset()
Reset the object.
const WorldPtr & GetWorld() const
Get the World this object is in.
virtual void Load(sdf::ElementPtr _sdf)
Load.
virtual void UnregisterIntrospectionItems()
Unregister items in the introspection service.
virtual void Init()
Initialize the object.
Definition: Base.hh:156
@ FIXED_JOINT
FixedJoint type.
Definition: Base.hh:109
std::string GetScopedName(bool _prependWorldName=false) const
Return the name of this entity with the model scope model1::...::modelN::entityName.
Base class for most physics classes.
Definition: Base.hh:73
BasePtr GetChild(const std::string &_name)
Get a child by name.
@ COLLISION
Collision type.
Definition: Base.hh:86
std::string GetName() const
Return the name of the entity.
void RemoveChildren()
Remove all children.
@ UNIVERSAL_JOINT
UniversalJoint type.
Definition: Base.hh:105
virtual void RemoveChild(unsigned int _id)
Remove a child from this entity.
virtual std::optional< sdf::SemanticPose > SDFSemanticPose() const
Get the SDF SemanticPose object associated with the pose of this object.
@ LIGHT
Light type.
Definition: Base.hh:88
Base_V children
Children of this entity.
Definition: Base.hh:351
virtual const sdf::ElementPtr GetSDF()
Get the SDF values for the object.
void AddChild(BasePtr _child)
Add a child to this entity.
@ LINK
Link type.
Definition: Base.hh:84
@ HINGE2_JOINT
Hing2Joint type.
Definition: Base.hh:97
@ HEIGHTMAP_SHAPE
HeightmapShape type.
Definition: Base.hh:121
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:78
void SetSaveable(bool _v)
Set whether the object should be "saved", when the user selects to save the world to xml.
@ SLIDER_JOINT
SliderJoint type.
Definition: Base.hh:101
sdf::ElementPtr sdf
The SDF values for this object.
Definition: Base.hh:345
@ CYLINDER_SHAPE
CylinderShape type.
Definition: Base.hh:119
@ VISUAL
Visual type.
Definition: Base.hh:90
unsigned int GetType() const
Get the full type definition.
@ BOX_SHAPE
BoxShape type.
Definition: Base.hh:117
void AddType(EntityType _type)
Add a type specifier.
ignition::math::Pose3d SDFPoseRelativeToParent() const
Get the SDF pose of the object according to the sdf 1.6 convention.
Base(BasePtr _parent)
Constructor.
@ ENTITY
Entity type.
Definition: Base.hh:80
@ SPHERE_SHAPE
SphereShape type.
Definition: Base.hh:131
Base class for all physics objects in Gazebo.
Definition: Entity.hh:53
std::vector< common::URI > introspectionItems
All the introspection items regsitered for this.
Definition: Base.hh:357
@ SHAPE
Shape type.
Definition: Base.hh:115
void SetWorld(const WorldPtr &_newWorld)
Set the world this object belongs to.
@ POLYLINE_SHAPE
PolylineShape type.
Definition: Base.hh:135
@ PLANE_SHAPE
PlaneShape type.
Definition: Base.hh:129
bool HasType(const EntityType &_t) const
Returns true if this object's type definition has the given type.
EntityType
Unique identifiers for all entity types.
Definition: Base.hh:76
virtual void RegisterIntrospectionItems()
Register items in the introspection service.
boost::shared_ptr< World > WorldPtr
Definition: PhysicsTypes.hh:90
void SetParent(BasePtr _parent)
Set the parent.
virtual ~Base()
Destructor.
bool GetSaveable() const
Get whether the object should be "saved", when the user selects to save the world to xml.
virtual bool SetSelected(bool _show)
Set whether this entity has been selected by the user through the gui.
std::vector< BasePtr > Base_V
Definition: PhysicsTypes.hh:202
static std::string EntityTypename[]
String names for the different entity types.
Definition: Base.hh:42
BasePtr GetChild(unsigned int _i) const
Get a child by index.
@ SENSOR_COLLISION
Indicates a collision shape used for sensing.
Definition: Base.hh:138
WorldPtr world
Pointer to the world.
Definition: Base.hh:354