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17 #ifndef GAZEBO_PHYSICS_MODEL_HH_
18 #define GAZEBO_PHYSICS_MODEL_HH_
24 #include <boost/function.hpp>
25 #include <boost/thread/recursive_mutex.hpp>
36 class recursive_mutex;
66 public:
virtual ~
Model();
70 public:
void Load(sdf::ElementPtr _sdf);
73 public:
void LoadJoints();
76 public:
virtual void Init();
79 public:
void Update();
82 public:
virtual void Fini();
86 public:
virtual void UpdateParameters(sdf::ElementPtr _sdf);
90 public:
virtual const sdf::ElementPtr GetSDF();
97 public:
virtual const sdf::ElementPtr UnscaledSDF();
101 public:
virtual void RemoveChild(
EntityPtr _child);
105 public:
void Reset();
110 public:
void ResetPhysicsStates();
114 public:
void SetLinearVel(
const ignition::math::Vector3d &_vel);
118 public:
void SetAngularVel(
const ignition::math::Vector3d &_vel);
124 public:
void SetLinearAccel(
const ignition::math::Vector3d &_vel)
131 public:
void SetAngularAccel(
const ignition::math::Vector3d &_vel)
137 public:
virtual ignition::math::Vector3d RelativeLinearVel()
const;
142 public:
virtual ignition::math::Vector3d WorldLinearVel()
const;
147 public:
virtual ignition::math::Vector3d RelativeAngularVel()
const;
152 public:
virtual ignition::math::Vector3d WorldAngularVel()
const;
157 public:
virtual ignition::math::Vector3d RelativeLinearAccel()
const;
162 public:
virtual ignition::math::Vector3d WorldLinearAccel()
const;
167 public:
virtual ignition::math::Vector3d RelativeAngularAccel()
const;
172 public:
virtual ignition::math::Vector3d WorldAngularAccel()
const;
176 public:
virtual ignition::math::Box BoundingBox()
const;
180 public:
unsigned int GetJointCount()
const;
185 public:
ModelPtr NestedModel(
const std::string &_name)
const;
189 public:
const Model_V &NestedModels()
const;
194 public:
const Link_V &GetLinks()
const;
198 public:
const Joint_V &GetJoints()
const;
203 public:
JointPtr GetJoint(
const std::string &name);
209 public:
LinkPtr GetLinkById(
unsigned int _id)
const;
215 public:
LinkPtr GetLink(
const std::string &_name =
"canonical")
const;
224 public:
virtual bool GetSelfCollide()
const;
229 public:
virtual void SetSelfCollide(
bool _self_collide);
233 public:
void SetGravityMode(
const bool &_value);
239 public:
void SetCollideMode(
const std::string &_mode);
243 public:
void SetLaserRetro(
const float _retro);
247 public:
virtual void FillMsg(msgs::Model &_msg);
251 public:
void ProcessMsg(
const msgs::Model &_msg);
257 public:
void SetJointPosition(
const std::string &_jointName,
258 double _position,
int _index = 0);
263 public:
void SetJointPositions(
264 const std::map<std::string, double> &_jointPositions);
270 public:
void SetJointAnimation(
271 const std::map<std::string, common::NumericAnimationPtr> &_anims,
272 boost::function<
void()> _onComplete =
NULL);
275 public:
virtual void StopAnimation();
291 public:
void AttachStaticModel(
ModelPtr &_model,
292 ignition::math::Pose3d _offset);
297 public:
void DetachStaticModel(
const std::string &_model);
301 public:
void SetState(
const ModelState &_state);
308 public:
void SetScale(
const ignition::math::Vector3d &_scale,
309 const bool _publish =
false);
315 public: ignition::math::Vector3d Scale()
const;
319 public:
void SetEnabled(
bool _enabled);
327 public:
void SetLinkWorldPose(
const ignition::math::Pose3d &_pose,
328 std::string _linkName);
336 public:
void SetLinkWorldPose(
const ignition::math::Pose3d &_pose,
342 public:
void SetAutoDisable(
bool _disable);
346 public:
bool GetAutoDisable()
const;
351 public:
void LoadPlugins();
355 public:
unsigned int GetPluginCount()
const;
360 public:
unsigned int GetSensorCount()
const;
374 public: std::vector<std::string> SensorScopedName(
375 const std::string &_name)
const;
383 public:
GripperPtr GetGripper(
size_t _index)
const;
388 public:
size_t GetGripperCount()
const;
393 public:
double GetWorldEnergyPotential()
const;
399 public:
double GetWorldEnergyKinetic()
const;
405 public:
double GetWorldEnergy()
const;
420 const std::string &_name,
const std::string &_type,
437 public:
bool RemoveJoint(
const std::string &_name);
441 public:
virtual void SetWindMode(
const bool _mode);
445 public:
virtual bool WindMode()
const;
449 public: boost::shared_ptr<Model> shared_from_this();
455 public:
LinkPtr CreateLink(
const std::string &_name);
474 public:
void PluginInfo(
const common::URI &_pluginUri,
475 ignition::msgs::Plugin_V &_plugins,
bool &_success);
478 protected:
virtual void OnPoseChange();
481 protected:
virtual void RegisterIntrospectionItems();
484 private:
void LoadLinks();
487 private:
void LoadModels();
491 private:
void LoadJoint(sdf::ElementPtr _sdf);
495 private:
void LoadPlugin(sdf::ElementPtr _sdf);
499 private:
void LoadGripper(sdf::ElementPtr _sdf);
504 private:
void RemoveLink(
const std::string &_name);
507 private:
virtual void PublishScale();
519 private:
LinkPtr canonicalLink;
531 private: std::vector<GripperPtr> grippers;
534 private: std::vector<ModelPluginPtr> plugins;
537 private: std::map<std::string, common::NumericAnimationPtr>
541 private: boost::function<void()> onJointAnimationComplete;
547 private:
mutable boost::recursive_mutex updateMutex;
550 private: std::mutex receiveMutex;
std::vector< JointPtr > Joint_V
Definition: PhysicsTypes.hh:213
void Load(sdf::ElementPtr _sdf)
Load the model.
A complete URI.
Definition: URI.hh:176
void LoadJoints()
Load all the joints.
double GetWorldEnergyPotential() const
Returns the potential energy of all links and joint springs in the model.
void SetLinkWorldPose(const ignition::math::Pose3d &_pose, std::string _linkName)
Set the Pose of the entire Model by specifying desired Pose of a Link within the Model.
virtual ignition::math::Vector3d RelativeAngularAccel() const
Get the angular acceleration of the entity.
void AttachStaticModel(ModelPtr &_model, ignition::math::Pose3d _offset)
Attach a static model to this model.
virtual ~Model()
Destructor.
Forward declarations for the common classes.
Definition: Animation.hh:26
boost::shared_ptr< JointController > JointControllerPtr
Definition: PhysicsTypes.hh:121
virtual bool GetSelfCollide() const
If true, all links within the model will collide by default.
Model(BasePtr _parent)
Constructor.
void SetLinearAccel(const ignition::math::Vector3d &_vel) GAZEBO_DEPRECATED(9.0)
Set the linear acceleration of the model, and all its links.
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
#define NULL
Definition: CommonTypes.hh:31
std::vector< ModelPtr > Model_V
Definition: PhysicsTypes.hh:205
virtual ignition::math::Vector3d RelativeAngularVel() const
Get the angular velocity of the entity.
virtual const sdf::ElementPtr GetSDF()
Get the SDF values for the model.
void SetCollideMode(const std::string &_mode)
\TODO This is not implemented in Link, which means this function doesn't do anything.
virtual void StopAnimation()
Stop the current animations.
gazebo::physics::JointPtr CreateJoint(const std::string &_name, const std::string &_type, physics::LinkPtr _parent, physics::LinkPtr _child)
Create a joint for this model.
boost::shared_ptr< Publisher > PublisherPtr
Definition: TransportTypes.hh:49
virtual void Fini()
Finalize the model.
virtual ignition::math::Vector3d WorldLinearVel() const
Get the linear velocity of the entity in the world frame.
virtual bool WindMode() const
Get the wind mode.
Forward declarations for transport.
void SetJointAnimation(const std::map< std::string, common::NumericAnimationPtr > &_anims, boost::function< void()> _onComplete=NULL)
Joint Animation.
Definition: JointMaker.hh:44
size_t GetGripperCount() const
Get the number of grippers in this model.
virtual void SetWindMode(const bool _mode)
Set whether wind affects this body.
void SetLaserRetro(const float _retro)
Set the laser retro reflectiveness of the model.
double GetWorldEnergyKinetic() const
Returns sum of the kinetic energies of all links in this model.
unsigned int GetPluginCount() const
Get the number of plugins this model has.
virtual ignition::math::Vector3d WorldAngularVel() const
Get the angular velocity of the entity in the world frame.
virtual void UpdateParameters(sdf::ElementPtr _sdf)
Update the parameters using new sdf values.
virtual void Reset()
Reset the entity.
default namespace for gazebo
unsigned int GetSensorCount() const
Get the number of sensors attached to this model.
virtual void Init()
Initialize the model.
void Update()
Update the model.
LinkPtr GetLink(const std::string &_name="canonical") const
Get a link by name.
JointPtr GetJoint(const std::string &name)
Get a joint.
double GetWorldEnergy() const
Returns this model's total energy, or sum of Model::GetWorldEnergyPotential() and Model::GetWorldEner...
void SetJointPositions(const std::map< std::string, double > &_jointPositions)
Set the positions of a set of joints.
void SetAngularAccel(const ignition::math::Vector3d &_vel) GAZEBO_DEPRECATED(9.0)
Set the angular acceleration of the model, and all its links.
void SetAngularVel(const ignition::math::Vector3d &_vel)
Set the angular velocity of the model, and all its links.
std::vector< std::string > SensorScopedName(const std::string &_name) const
Get scoped sensor name(s) in the model that matches sensor name.
GripperPtr GetGripper(size_t _index) const
Get a gripper based on an index.
virtual void OnPoseChange()
Callback when the pose of the model has been changed.
virtual ignition::math::Vector3d RelativeLinearVel() const
Get the linear velocity of the entity.
boost::shared_ptr< Model > shared_from_this()
Allow Model class to share itself as a boost shared_ptr.
void Reset()
Reset the model.
JointControllerPtr GetJointController()
Get a handle to the Controller for the joints in this model.
virtual void RemoveChild(unsigned int _id)
Remove a child from this entity.
virtual void FillMsg(msgs::Model &_msg)
Fill a model message.
virtual ignition::math::Vector3d RelativeLinearAccel() const
Get the linear acceleration of the entity.
void ResetPhysicsStates()
Reset the velocity, acceleration, force and torque of all child links.
A model is a collection of links, joints, and plugins.
Definition: Model.hh:59
Store state information of a physics::Model object.
Definition: ModelState.hh:48
unsigned int GetJointCount() const
Get the number of joints.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
LinkPtr CreateLink(const std::string &_name)
Create a new link for this model.
void SetGravityMode(const bool &_value)
Set the gravity mode of the model.
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
virtual ignition::math::Box BoundingBox() const
Get the size of the bounding box.
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:109
void SetAutoDisable(bool _disable)
Allow the model the auto disable.
ignition::math::Vector3d Scale() const
Get the scale of model.
std::vector< ModelPtr > attachedModels
used by Model::AttachStaticModel
Definition: Model.hh:510
ModelPtr NestedModel(const std::string &_name) const
Get a nested model that is a direct child of this model.
void LoadPlugins()
Load all plugins.
void SetJointPosition(const std::string &_jointName, double _position, int _index=0)
Set the positions of a Joint by name.
boost::shared_ptr< Entity > EntityPtr
Definition: PhysicsTypes.hh:85
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:117
Base class for all physics objects in Gazebo.
Definition: Entity.hh:52
bool GetAutoDisable() const
Return the value of the SDF <allow_auto_disable> element.
void SetState(const ModelState &_state)
Set the current model state.
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:328
std::vector< ignition::math::Pose3d > attachedModelsOffset
used by Model::AttachStaticModel
Definition: Model.hh:513
std::vector< LinkPtr > Link_V
Definition: PhysicsTypes.hh:225
virtual ignition::math::Vector3d WorldAngularAccel() const
Get the angular acceleration of the entity in the world frame.
virtual const sdf::ElementPtr UnscaledSDF()
virtual ignition::math::Vector3d WorldLinearAccel() const
Get the linear acceleration of the entity in the world frame.
void SetEnabled(bool _enabled)
Enable all the links in all the models.
virtual void SetSelfCollide(bool _self_collide)
Set this model's self_collide property.
boost::shared_ptr< Gripper > GripperPtr
Definition: PhysicsTypes.hh:197
virtual void RemoveChild(EntityPtr _child)
Remove a child.
const Link_V & GetLinks() const
Construct and return a vector of Link's in this model Note this constructs the vector of Link's on th...
const Joint_V & GetJoints() const
Get the joints.
void SetLinearVel(const ignition::math::Vector3d &_vel)
Set the linear velocity of the model, and all its links.
bool RemoveJoint(const std::string &_name)
Remove a joint for this model.
virtual void RegisterIntrospectionItems()
Register items in the introspection service.
void SetScale(const ignition::math::Vector3d &_scale, const bool _publish=false)
Set the scale of model.
void DetachStaticModel(const std::string &_model)
Detach a static model from this model.
transport::PublisherPtr jointPub
Publisher for joint info.
Definition: Model.hh:516
void PluginInfo(const common::URI &_pluginUri, ignition::msgs::Plugin_V &_plugins, bool &_success)
Get information about plugins in this model or one of its children, according to the given _pluginUri...
const Model_V & NestedModels() const
Get all the nested models.
void ProcessMsg(const msgs::Model &_msg)
Update parameters from a model message.