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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);
123 public:
virtual ignition::math::Vector3d RelativeLinearVel()
const;
128 public:
virtual ignition::math::Vector3d WorldLinearVel()
const;
133 public:
virtual ignition::math::Vector3d RelativeAngularVel()
const;
138 public:
virtual ignition::math::Vector3d WorldAngularVel()
const;
143 public:
virtual ignition::math::Vector3d RelativeLinearAccel()
const;
148 public:
virtual ignition::math::Vector3d WorldLinearAccel()
const;
153 public:
virtual ignition::math::Vector3d RelativeAngularAccel()
const;
158 public:
virtual ignition::math::Vector3d WorldAngularAccel()
const;
162 public:
virtual ignition::math::Box BoundingBox()
const;
166 public:
unsigned int GetJointCount()
const;
171 public:
ModelPtr NestedModel(
const std::string &_name)
const;
175 public:
const Model_V &NestedModels()
const;
180 public:
const Link_V &GetLinks()
const;
184 public:
const Joint_V &GetJoints()
const;
189 public:
JointPtr GetJoint(
const std::string &name);
195 public:
LinkPtr GetLinkById(
unsigned int _id)
const;
201 public:
LinkPtr GetLink(
const std::string &_name =
"canonical")
const;
210 public:
virtual bool GetSelfCollide()
const;
215 public:
virtual void SetSelfCollide(
bool _self_collide);
219 public:
void SetGravityMode(
const bool &_value);
225 public:
void SetCollideMode(
const std::string &_mode);
229 public:
void SetLaserRetro(
const float _retro);
233 public:
virtual void FillMsg(msgs::Model &_msg);
237 public:
void ProcessMsg(
const msgs::Model &_msg);
243 public:
void SetJointPosition(
const std::string &_jointName,
244 double _position,
int _index = 0);
249 public:
void SetJointPositions(
250 const std::map<std::string, double> &_jointPositions);
256 public:
void SetJointAnimation(
257 const std::map<std::string, common::NumericAnimationPtr> &_anims,
258 boost::function<
void()> _onComplete =
NULL);
261 public:
virtual void StopAnimation();
277 public:
void AttachStaticModel(
ModelPtr &_model,
278 ignition::math::Pose3d _offset);
283 public:
void DetachStaticModel(
const std::string &_model);
287 public:
void SetState(
const ModelState &_state);
294 public:
void SetScale(
const ignition::math::Vector3d &_scale,
295 const bool _publish =
false);
301 public: ignition::math::Vector3d Scale()
const;
305 public:
void SetEnabled(
bool _enabled);
313 public:
void SetLinkWorldPose(
const ignition::math::Pose3d &_pose,
314 std::string _linkName);
322 public:
void SetLinkWorldPose(
const ignition::math::Pose3d &_pose,
328 public:
void SetAutoDisable(
bool _disable);
332 public:
bool GetAutoDisable()
const;
337 public:
void LoadPlugins();
341 public:
unsigned int GetPluginCount()
const;
346 public:
unsigned int GetSensorCount()
const;
360 public: std::vector<std::string> SensorScopedName(
361 const std::string &_name)
const;
369 public:
GripperPtr GetGripper(
size_t _index)
const;
374 public:
size_t GetGripperCount()
const;
379 public:
double GetWorldEnergyPotential()
const;
385 public:
double GetWorldEnergyKinetic()
const;
391 public:
double GetWorldEnergy()
const;
406 const std::string &_name,
const std::string &_type,
419 sdf::ElementPtr _sdf);
424 public:
virtual bool RemoveJoint(
const std::string &_name);
428 public:
virtual void SetWindMode(
const bool _mode);
432 public:
virtual bool WindMode()
const;
436 public: boost::shared_ptr<Model> shared_from_this();
442 public:
LinkPtr CreateLink(
const std::string &_name);
461 public:
void PluginInfo(
const common::URI &_pluginUri,
462 ignition::msgs::Plugin_V &_plugins,
bool &_success);
465 protected:
virtual void OnPoseChange();
468 protected:
virtual void RegisterIntrospectionItems();
471 private:
void LoadLinks();
474 private:
void LoadModels();
478 private:
void LoadJoint(sdf::ElementPtr _sdf);
482 private:
void LoadPlugin(sdf::ElementPtr _sdf);
486 private:
void LoadGripper(sdf::ElementPtr _sdf);
491 private:
void RemoveLink(
const std::string &_name);
494 private:
virtual void PublishScale();
506 private:
LinkPtr canonicalLink;
518 private: std::vector<GripperPtr> grippers;
521 private: std::vector<ModelPluginPtr> plugins;
524 private: std::map<std::string, common::NumericAnimationPtr>
528 private: boost::function<void()> onJointAnimationComplete;
534 private:
mutable boost::recursive_mutex updateMutex;
537 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.
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.
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 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.
virtual 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< 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.
virtual bool RemoveJoint(const std::string &_name)
Remove a joint for this model.
std::vector< ModelPtr > attachedModels
used by Model::AttachStaticModel
Definition: Model.hh:497
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.
std::vector< ignition::math::Pose3d > attachedModelsOffset
used by Model::AttachStaticModel
Definition: Model.hh:500
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.
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:503
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.