World.hh
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1/*
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.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17#ifndef GAZEBO_PHYSICS_WORLD_HH_
18#define GAZEBO_PHYSICS_WORLD_HH_
19
20#include <vector>
21#include <list>
22#include <set>
23#include <deque>
24#include <string>
25#include <memory>
26
27#include <boost/enable_shared_from_this.hpp>
28
29#include <sdf/sdf.hh>
30
32
33#include "gazebo/msgs/msgs.hh"
34
38#include "gazebo/common/URI.hh"
39
44#include "gazebo/util/system.hh"
45
46// Forward declare reference and pointer parameters
47namespace ignition
48{
49 namespace msgs
50 {
51 class Plugin_V;
52 class StringMsg;
53 }
54}
55
56namespace gazebo
57{
58 namespace physics
59 {
61 class WorldPrivate;
62
65
74 class GZ_PHYSICS_VISIBLE World :
75 public boost::enable_shared_from_this<World>
76 {
80 public: explicit World(const std::string &_name = "");
81
83 public: ~World();
84
88 public: void Load(sdf::ElementPtr _sdf);
89
92 public: const sdf::ElementPtr SDF();
93
97 public: void Save(const std::string &_filename);
98
101 public: void Init();
102
107 public: void Run(const unsigned int _iterations = 0);
108
111 public: bool Running() const;
112
116 public: void Stop();
117
120 public: void Fini();
121
125 public: void Clear();
126
129 public: std::string Name() const;
130
134 public: PhysicsEnginePtr Physics() const;
135
139
143
146 public: physics::Wind &Wind() const;
147
151
154 public: ignition::math::Vector3d Gravity() const;
155
158 public: void SetGravity(const ignition::math::Vector3d &_gravity);
159
162 public: void SetGravitySDF(const ignition::math::Vector3d &_gravity);
163
166 public: virtual ignition::math::Vector3d MagneticField() const;
167
170 public: void SetMagneticField(const ignition::math::Vector3d &_mag);
171
174 public: unsigned int ModelCount() const;
175
181 public: ModelPtr ModelByIndex(const unsigned int _index) const;
182
185 public: Model_V Models() const;
186
189 public: unsigned int LightCount() const;
190
193 public: Light_V Lights() const;
194
199 public: void ResetEntities(Base::EntityType _type = Base::BASE);
200
202 public: void ResetTime();
203
205 public: void Reset();
206
209 public: void PrintEntityTree();
210
214 public: common::Time SimTime() const;
215
218 public: void SetSimTime(const common::Time &_t);
219
222 public: common::Time PauseTime() const;
223
226 public: common::Time StartTime() const;
227
230 public: common::Time RealTime() const;
231
234 public: bool IsPaused() const;
235
238 public: void SetPaused(const bool _p);
239
245 public: BasePtr BaseByName(const std::string &_name) const;
246
252 public: ModelPtr ModelByName(const std::string &_name) const;
253
259 public: LightPtr LightByName(const std::string &_name) const;
260
266 public: EntityPtr EntityByName(const std::string &_name) const;
267
276 const ignition::math::Vector3d &_pt) const;
277
284 const ignition::math::Vector3d &_pt) const;
285
288 public: void SetState(const WorldState &_state);
289
293 public: void InsertModelFile(const std::string &_sdfFilename);
294
298 public: void InsertModelString(const std::string &_sdfString);
299
303 public: void InsertModelSDF(const sdf::SDF &_sdf);
304
308 public: std::string StripWorldName(const std::string &_name) const;
309
313 public: void EnableAllModels();
314
318 public: void DisableAllModels();
319
322 public: void Step(const unsigned int _steps);
323
328 public: void LoadPlugin(const std::string &_filename,
329 const std::string &_name,
330 sdf::ElementPtr _sdf);
331
334 public: void RemovePlugin(const std::string &_name);
335
338 public: std::mutex &WorldPoseMutex() const;
339
342 public: bool PhysicsEnabled() const;
343
346 public: void SetPhysicsEnabled(const bool _enable);
347
350 public: bool WindEnabled() const;
351
354 public: void SetWindEnabled(const bool _enable);
355
358 public: bool AtmosphereEnabled() const;
359
362 public: void SetAtmosphereEnabled(const bool _enable);
363
365 public: void UpdateStateSDF();
366
369 public: bool IsLoaded() const;
370
373 public: void ClearModels();
374
380
386
391 public: void PublishLightPose(const physics::LightPtr _light);
392
395 public: uint32_t Iterations() const;
396
399 public: msgs::Scene SceneMsg() const;
400
405 public: void RunBlocking(const unsigned int _iterations = 0);
406
411 public: void RemoveModel(ModelPtr _model);
412
417 public: void RemoveModel(const std::string &_name);
418
421 public: void ResetPhysicsStates();
422
429 public: void _AddDirty(Entity *_entity);
430
433 public: bool SensorsInitialized() const;
434
439 public: void _SetSensorsInitialized(const bool _init);
440
443 public: common::URI URI() const;
444
450 public: std::string UniqueModelName(const std::string &_name);
451
459 private: ModelPtr ModelById(const unsigned int _id) const;
461
465 private: void LoadPlugins();
466
470 private: void LoadEntities(sdf::ElementPtr _sdf, BasePtr _parent);
471
476 private: ModelPtr LoadModel(sdf::ElementPtr _sdf, BasePtr _parent);
477
482 public: LightPtr LoadLight(const sdf::ElementPtr &_sdf,
483 const BasePtr &_parent);
484
489 private: ActorPtr LoadActor(sdf::ElementPtr _sdf, BasePtr _parent);
490
495 private: RoadPtr LoadRoad(sdf::ElementPtr _sdf, BasePtr _parent);
496
498 private: void RunLoop();
499
501 private: void Step();
502
504 private: void LogStep();
505
507 private: void Update();
508
511 private: void OnPause(bool _p);
512
514 private: void OnStep();
515
518 private: void OnControl(ConstWorldControlPtr &_data);
519
522 private: void OnPlaybackControl(ConstLogPlaybackControlPtr &_data);
523
526 private: void OnRequest(ConstRequestPtr &_msg);
527
532 private: void BuildSceneMsg(msgs::Scene &_scene, BasePtr _entity);
533
536 private: void JointLog(ConstJointPtr &_msg);
537
540 private: void OnFactoryMsg(ConstFactoryPtr &_data);
541
544 private: void OnModelMsg(ConstModelPtr &_msg);
545
547 private: void ModelUpdateTBB();
548
550 private: void ModelUpdateSingleLoop();
551
554 private: void LoadPlugin(sdf::ElementPtr _sdf);
555
559 private: void FillModelMsg(msgs::Model &_msg, ModelPtr _model);
560
563 private: void ProcessEntityMsgs();
564
567 private: void ProcessRequestMsgs();
568
571 private: void ProcessFactoryMsgs();
572
575 private: void ProcessModelMsgs();
576
579 private: void ProcessLightFactoryMsgs();
580
583 private: void ProcessLightModifyMsgs();
584
587 private: void ProcessPlaybackControlMsgs();
588
590 private: bool OnLog(std::ostringstream &_stream);
591
594 private: void LogModelResources();
595
597 private: void ProcessMessages();
598
600 private: void PublishWorldStats();
601
603 private: void LogWorker();
604
606 private: void RegisterIntrospectionItems();
607
609 private: void UnregisterIntrospectionItems();
610
614 private: void OnLightFactoryMsg(ConstLightPtr &_msg);
615
619 private: void OnLightModifyMsg(ConstLightPtr &_msg);
620
637 private: bool PluginInfoService(const ignition::msgs::StringMsg &_request,
638 ignition::msgs::Plugin_V &_plugins);
639
642 private: std::unique_ptr<WorldPrivate> dataPtr;
643
645 private: friend class DARTLink;
646
648 private: friend class SimbodyPhysics;
649 };
651 }
652}
653#endif
default namespace for gazebo
Forward declarations for transport.
A Time class, can be used to hold wall- or sim-time.
Definition Time.hh:48
A complete URI.
Definition URI.hh:177
This models a base atmosphere class to serve as a common interface to any derived atmosphere models.
Definition Atmosphere.hh:43
EntityType
Unique identifiers for all entity types.
Definition Base.hh:75
@ BASE
Base type.
Definition Base.hh:77
Base class for all physics objects in Gazebo.
Definition Entity.hh:53
Simbody physics engine.
Definition SimbodyPhysics.hh:43
Base class for wind.
Definition Wind.hh:42
Store state information of a physics::World object.
Definition WorldState.hh:48
The world provides access to all other object within a simulated environment.
Definition World.hh:76
void Fini()
Finalize the world.
void SetState(const WorldState &_state)
Set the current world state.
std::string UniqueModelName(const std::string &_name)
Get a model name which doesn't equal any existing model's name, by appending numbers to the given nam...
void RemoveModel(ModelPtr _model)
Remove a model.
void SetPhysicsEnabled(const bool _enable)
enable/disable physics engine during World::Update.
void InsertModelFile(const std::string &_sdfFilename)
Insert a model from an SDF file.
unsigned int LightCount() const
Get the number of lights.
void ClearModels()
Remove all entities from the world.
void Stop()
Stop the world.
bool SensorsInitialized() const
Get whether sensors have been initialized.
void SetGravitySDF(const ignition::math::Vector3d &_gravity)
Set the gravity sdf value.
void Init()
Initialize the world.
ModelPtr ModelByIndex(const unsigned int _index) const
Get a model based on an index.
void SetMagneticField(const ignition::math::Vector3d &_mag)
Set the magnetic field vector.
PhysicsEnginePtr Physics() const
Return the physics engine.
PresetManagerPtr PresetMgr() const
Return the preset manager.
void _SetSensorsInitialized(const bool _init)
void SetSimTime(const common::Time &_t)
Set the sim time.
virtual ignition::math::Vector3d MagneticField() const
Return the magnetic field vector.
void Reset()
Reset time and model poses, configurations in simulation.
void PublishLightPose(const physics::LightPtr _light)
Publish pose updates for a light.
void RemovePlugin(const std::string &_name)
Remove a running plugin.
void _AddDirty(Entity *_entity)
std::string Name() const
Get the name of the world.
physics::Atmosphere & Atmosphere() const
Get a reference to the atmosphere model used by the world.
void SetPaused(const bool _p)
Set whether the simulation is paused.
void ResetPhysicsStates()
Reset the velocity, acceleration, force and torque of all child models.
void SetWindEnabled(const bool _enable)
enable/disable wind.
bool WindEnabled() const
check if wind is enabled/disabled.
void SetAtmosphereEnabled(const bool _enable)
enable/disable atmosphere model.
std::string StripWorldName(const std::string &_name) const
Return a version of the name with "<world_name>::" removed.
void ResetEntities(Base::EntityType _type=Base::BASE)
Reset with options.
uint32_t Iterations() const
Get the total number of iterations.
void EnableAllModels()
Enable all links in all the models.
Light_V Lights() const
Get a list of all the lights.
LightPtr LightByName(const std::string &_name) const
Get a light by name.
bool IsLoaded() const
Return true if the world has been loaded.
void InsertModelString(const std::string &_sdfString)
Insert a model from an SDF string.
common::URI URI() const
Return the URI of the world.
physics::Wind & Wind() const
Get a reference to the wind used by the world.
ignition::math::Vector3d Gravity() const
Return the gravity vector.
void Run(const unsigned int _iterations=0)
Run the world in a thread.
ModelPtr ModelBelowPoint(const ignition::math::Vector3d &_pt) const
Get the nearest model below and not encapsulating a point.
void PublishModelScale(physics::ModelPtr _model)
Publish scale updates for a model.
std::mutex & WorldPoseMutex() const
Get the set world pose mutex.
LightPtr LoadLight(const sdf::ElementPtr &_sdf, const BasePtr &_parent)
Load a light.
void ResetTime()
Reset simulation time back to zero.
Model_V Models() const
Get a list of all the models.
bool PhysicsEnabled() const
check if physics engine is enabled/disabled.
bool IsPaused() const
Returns the state of the simulation true if paused.
common::Time StartTime() const
Get the wall time simulation was started.
common::Time RealTime() const
Get the real time (elapsed time).
void Clear()
Remove all entities from the world.
void InsertModelSDF(const sdf::SDF &_sdf)
Insert a model using SDF.
void Save(const std::string &_filename)
Save a world to a file.
bool Running() const
Return the running state of the world.
BasePtr BaseByName(const std::string &_name) const
Get an element by name.
void DisableAllModels()
Disable all links in all the models.
ModelPtr ModelByName(const std::string &_name) const
Get a model by name.
const sdf::ElementPtr SDF()
Get the SDF of the world in the current state.
void LoadPlugin(const std::string &_filename, const std::string &_name, sdf::ElementPtr _sdf)
Load a plugin.
void PublishModelPose(physics::ModelPtr _model)
Publish pose updates for a model.
EntityPtr EntityByName(const std::string &_name) const
Get a pointer to an Entity based on a name.
common::SphericalCoordinatesPtr SphericalCoords() const
Return the spherical coordinates converter.
void Load(sdf::ElementPtr _sdf)
Load the world using SDF parameters.
void PrintEntityTree()
Print Entity tree.
void UpdateStateSDF()
Update the state SDF value from the current state.
bool AtmosphereEnabled() const
check if atmosphere model is enabled/disabled.
World(const std::string &_name="")
Constructor.
msgs::Scene SceneMsg() const
Get the current scene in message form.
common::Time SimTime() const
Get the world simulation time, note if you want the PC wall clock call common::Time::GetWallTime.
void RunBlocking(const unsigned int _iterations=0)
Run the world.
void Step(const unsigned int _steps)
Step the world forward in time.
EntityPtr EntityBelowPoint(const ignition::math::Vector3d &_pt) const
Get the nearest entity below a point.
unsigned int ModelCount() const
Get the number of models.
void RemoveModel(const std::string &_name)
Remove a model by name.
common::Time PauseTime() const
Get the amount of time simulation has been paused.
void SetGravity(const ignition::math::Vector3d &_gravity)
Set the gravity vector.
boost::shared_ptr< SphericalCoordinates > SphericalCoordinatesPtr
Definition CommonTypes.hh:121
std::vector< ModelPtr > Model_V
Definition PhysicsTypes.hh:205
boost::shared_ptr< Light > LightPtr
Definition PhysicsTypes.hh:105
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition PhysicsTypes.hh:125
boost::shared_ptr< Actor > ActorPtr
Definition PhysicsTypes.hh:97
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
std::vector< LightPtr > Light_V
Definition PhysicsTypes.hh:221
boost::shared_ptr< PresetManager > PresetManagerPtr
Definition PhysicsTypes.hh:129
boost::shared_ptr< Entity > EntityPtr
Definition PhysicsTypes.hh:85
boost::shared_ptr< Road > RoadPtr
Definition PhysicsTypes.hh:161
boost::shared_ptr< Model > ModelPtr
Definition PhysicsTypes.hh:93
Forward declarations for the common classes.
Definition Animation.hh:27
Definition Model.hh:41