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17 #ifndef GAZEBO_PHYSICS_LINK_HH_
18 #define GAZEBO_PHYSICS_LINK_HH_
29 #include <ignition/math/Matrix3.hh>
65 public:
virtual ~
Link();
69 public:
virtual void Load(sdf::ElementPtr _sdf);
72 public:
virtual void Init();
82 public:
void ResetPhysicsStates();
86 public:
virtual void UpdateParameters(sdf::ElementPtr _sdf);
95 public:
void SetScale(
const ignition::math::Vector3d &_scale);
99 public:
virtual void SetEnabled(
bool _enable)
const = 0;
103 public:
virtual bool GetEnabled()
const = 0;
108 public:
virtual bool SetSelected(
bool _set);
112 public:
virtual void SetGravityMode(
bool _mode) = 0;
116 public:
virtual bool GetGravityMode()
const = 0;
120 public:
virtual void SetWindMode(
const bool _mode);
124 public:
virtual bool WindMode()
const;
130 public:
virtual void SetSelfCollide(
bool _collide) = 0;
140 public:
void SetCollideMode(
const std::string &_mode);
149 public:
bool GetSelfCollide()
const;
153 public:
void SetLaserRetro(
float _retro);
157 public:
virtual void SetLinearVel(
158 const ignition::math::Vector3d &_vel) = 0;
162 public:
virtual void SetAngularVel(
163 const ignition::math::Vector3d &_vel) = 0;
167 public:
virtual void SetForce(
168 const ignition::math::Vector3d &_force) = 0;
172 public:
virtual void SetTorque(
173 const ignition::math::Vector3d &_torque) = 0;
177 public:
virtual void AddForce(
const ignition::math::Vector3d &_force) = 0;
182 public:
virtual void AddRelativeForce(
183 const ignition::math::Vector3d &_force) = 0;
188 public:
virtual void AddForceAtWorldPosition(
189 const ignition::math::Vector3d &_force,
190 const ignition::math::Vector3d &_pos) = 0;
200 public:
virtual void AddForceAtRelativePosition(
201 const ignition::math::Vector3d &_force,
202 const ignition::math::Vector3d &_relPos) = 0;
210 public:
virtual void AddLinkForce(
211 const ignition::math::Vector3d &_force,
212 const ignition::math::Vector3d &_offset =
213 ignition::math::Vector3d::Zero) = 0;
217 public:
virtual void AddTorque(
218 const ignition::math::Vector3d &_torque) = 0;
223 public:
virtual void AddRelativeTorque(
224 const ignition::math::Vector3d &_torque) = 0;
230 public: ignition::math::Pose3d WorldCoGPose()
const;
235 public:
virtual ignition::math::Vector3d WorldLinearVel()
const;
244 public:
virtual ignition::math::Vector3d WorldLinearVel(
245 const ignition::math::Vector3d &_offset)
const = 0;
254 public:
virtual ignition::math::Vector3d WorldLinearVel(
255 const ignition::math::Vector3d &_offset,
256 const ignition::math::Quaterniond &_q)
const = 0;
262 public:
virtual ignition::math::Vector3d WorldCoGLinearVel()
const = 0;
266 public: ignition::math::Vector3d RelativeLinearVel()
const;
270 public: ignition::math::Vector3d RelativeAngularVel()
const;
274 public: ignition::math::Vector3d RelativeLinearAccel()
const;
278 public: ignition::math::Vector3d WorldLinearAccel()
const;
282 public: ignition::math::Vector3d RelativeAngularAccel()
const;
289 public: ignition::math::Vector3d WorldAngularMomentum()
const;
298 public: ignition::math::Vector3d WorldAngularAccel()
const;
302 public: ignition::math::Vector3d RelativeForce()
const;
306 public:
virtual ignition::math::Vector3d WorldForce()
const = 0;
310 public: ignition::math::Vector3d RelativeTorque()
const;
315 public:
virtual ignition::math::Vector3d WorldTorque()
const = 0;
327 public:
void SetInertial(
const InertialPtr &_inertial);
334 public: ignition::math::Pose3d WorldInertialPose()
const;
339 public: ignition::math::Matrix3d WorldInertiaMatrix()
const;
346 public:
CollisionPtr GetCollisionById(
unsigned int _id)
const;
352 public:
CollisionPtr GetCollision(
const std::string &_name);
357 public:
CollisionPtr GetCollision(
unsigned int _index)
const;
366 public:
virtual ignition::math::Box BoundingBox()
const;
370 public:
virtual void SetLinearDamping(
double _damping) = 0;
374 public:
virtual void SetAngularDamping(
double _damping) = 0;
378 public:
double GetLinearDamping()
const;
382 public:
double GetAngularDamping()
const;
387 public:
virtual void SetKinematic(
const bool &_kinematic);
400 public:
unsigned int GetSensorCount()
const;
413 public: std::string GetSensorName(
unsigned int _index)
const;
419 std::function<
void (
bool)> _subscriber);
423 public:
void FillMsg(msgs::Link &_msg);
427 public:
void ProcessMsg(
const msgs::Link &_msg);
431 public:
void AddChildJoint(
JointPtr _joint);
435 public:
void AddParentJoint(
JointPtr _joint);
439 public:
void RemoveParentJoint(
const std::string &_jointName);
443 public:
void RemoveChildJoint(
const std::string &_jointName);
446 public:
virtual void RemoveChild(
EntityPtr _child);
452 public:
void AttachStaticModel(
ModelPtr &_model,
453 const ignition::math::Pose3d &_offset);
457 public:
void DetachStaticModel(
const std::string &_modelName);
460 public:
void DetachAllStaticModels();
464 public:
virtual void OnPoseChange();
468 public:
void SetState(
const LinkState &_state);
478 public:
virtual void SetAutoDisable(
bool _disable) = 0;
482 public:
Link_V GetChildJointsLinks()
const;
486 public:
Link_V GetParentJointsLinks()
const;
490 public:
void SetPublishData(
bool _enable);
493 public:
Joint_V GetParentJoints()
const;
496 public:
Joint_V GetChildJoints()
const;
500 public:
void RemoveCollision(
const std::string &_name);
505 public:
double GetWorldEnergyPotential()
const;
510 public:
double GetWorldEnergyKinetic()
const;
516 public:
double GetWorldEnergy()
const;
521 public: msgs::Visual GetVisualMessage(
const std::string &_name)
const;
526 public:
virtual void SetLinkStatic(
bool _static) = 0;
529 public:
virtual void SetStatic(
const bool &_static);
542 public:
void MoveFrame(
543 const ignition::math::Pose3d &_worldReferenceFrameSrc,
544 const ignition::math::Pose3d &_worldReferenceFrameDst,
545 const bool _preserveWorldVelocity =
false);
561 public:
bool FindAllConnectedLinksHelper(
562 const LinkPtr &_originalParentLink,
563 Link_V &_connectedLinks,
bool _fistLink =
false);
567 public:
void SetWindEnabled(
const bool _enable);
572 public:
const ignition::math::Vector3d WorldWindLinearVel()
const;
576 public:
const ignition::math::Vector3d RelativeWindLinearVel()
const;
594 public:
size_t BatteryCount()
const;
600 public:
bool VisualId(
const std::string &_visName, uint32_t &_visualId)
607 public:
bool VisualPose(
const uint32_t _id,
608 ignition::math::Pose3d &_pose)
const;
614 public:
bool SetVisualPose(
const uint32_t _id,
615 const ignition::math::Pose3d &_pose);
623 public:
const Visuals_M &Visuals()
const;
626 private:
void PublishData();
630 private:
void LoadCollision(sdf::ElementPtr _sdf);
634 private:
void LoadLight(sdf::ElementPtr _sdf);
638 private:
void SetInertialFromCollisions();
642 private:
void OnCollision(ConstContactsPtr &_msg);
645 private:
void ParseVisuals();
651 private:
bool ContainsLink(
const Link_V &_vector,
const LinkPtr &_value);
655 private:
void UpdateVisualGeomSDF(
const ignition::math::Vector3d &_scale);
658 private:
void UpdateVisualMsg();
663 private:
void OnWrenchMsg(ConstWrenchPtr &_msg);
667 private:
void ProcessWrenchMsg(
const msgs::Wrench &_msg);
671 private:
void LoadBattery(
const sdf::ElementPtr _sdf);
674 protected:
virtual void RegisterIntrospectionItems();
686 protected:
bool initialized =
false;
689 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:323
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:213
virtual void Update()
Update the object.
Definition: Base.hh:171
const ignition::math::Vector3d RelativeWindLinearVel() const
Returns this link's wind velocity.
virtual void Init()
Initialize the body.
Visuals_M visuals
Link visual elements.
Definition: Link.hh:680
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.
virtual ignition::math::Vector3d WorldLinearVel() const
Get the linear velocity of the origin of the link frame, expressed in the world frame.
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.
Joint_V GetParentJoints() const
Get the parent joints.
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:93
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.
ignition::math::Vector3d WorldLinearAccel() const
Get the linear acceleration of the body in the world frame.
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 void RegisterIntrospectionItems()
Register items in the introspection service.
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::Vector3d WorldAngularAccel() const
Get the angular acceleration of the body in the world frame, which is computed as (I^-1 * (T - w x L)...
ignition::math::Pose3d WorldCoGPose() const
Get the pose of the body's center of gravity in the world coordinate frame.
ignition::math::Vector3d RelativeLinearAccel() const
Get the linear acceleration of the body.
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:392
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 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:677
virtual void UpdateSurface()
Update surface parameters.
Definition: Link.hh:474
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.
ignition::math::Vector3d RelativeAngularAccel() const
Get the angular acceleration of the body.
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:58
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...
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 AddTorque(const ignition::math::Vector3d &_torque)=0
Add a torque to the body.
bool initialized
This flag is set to true when the link is initialized.
Definition: Link.hh:686
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 Load(sdf::ElementPtr _sdf)
Load the body based on an SDF element.
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:619
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.
virtual void UpdateParameters(sdf::ElementPtr _sdf)
Update the parameters using new sdf values.
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.
ignition::math::Vector3d RelativeAngularVel() const
Get the angular velocity of the body.
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:109
virtual void SetSelfCollide(bool _collide)=0
Set whether this body will collide with others in the model.
virtual void OnPoseChange()
This function is called when the entity's (or one of its parents) pose of the parent has changed.
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 void AddForce(const ignition::math::Vector3d &_force)=0
Add a force to the body.
virtual ignition::math::Box BoundingBox() const
Get the bounding box for the link and all the child elements.
boost::shared_ptr< Entity > EntityPtr
Definition: PhysicsTypes.hh:85
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:117
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:683
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:113
std::vector< LinkPtr > Link_V
Definition: PhysicsTypes.hh:225
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:229
virtual ignition::math::Vector3d WorldCoGLinearVel() const =0
Get the linear velocity at the body's center of gravity in the world frame.
virtual bool SetSelected(bool _set)
Set whether this entity has been selected by the user through the gui.
void SetCollideMode(const std::string &_mode)
Set the collide mode of the body.
void Reset()
Reset the link.
void Fini()
Finalize 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:471
Information for use in an update event.
Definition: UpdateInfo.hh:30
virtual void RemoveChild(EntityPtr _child)
boost::shared_ptr< Inertial > InertialPtr
Definition: PhysicsTypes.hh:157
void SetStatic(const bool &_static)
Set whether this entity is static: immovable.
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.
ignition::math::Vector3d RelativeLinearVel() const
Get the linear velocity of the body.
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.