JointState Class Reference

keeps track of state of a physics::Joint More...

#include <physics/physics.hh>

Inherits State.

Public Member Functions

 JointState ()
 Default constructor.
 
 JointState (const sdf::ElementPtr _sdf)
 Constructor.
 
 JointState (JointPtr _joint)
 Constructor.
 
 JointState (JointPtr _joint, const common::Time &_realTime, const common::Time &_simTime, const uint64_t _iterations)
 Constructor.
 
virtual ~JointState ()
 Destructor.
 
void FillSDF (sdf::ElementPtr _sdf)
 Populate a state SDF element with data from the object.
 
unsigned int GetAngleCount () const
 Get the number of angles.
 
uint64_t GetIterations () const
 Get the iterations when this state was generated.
 
std::string GetName () const
 Get the name associated with this State.
 
common::Time GetRealTime () const
 Get the real time when this state was generated.
 
common::Time GetSimTime () const
 Get the sim time when this state was generated.
 
common::Time GetWallTime () const
 Get the wall time when this state was generated.
 
bool IsZero () const
 Return true if the values in the state are zero.
 
virtual void Load (const sdf::ElementPtr _elem)
 Load state from SDF element.
 
void Load (JointPtr _joint, const common::Time &_realTime, const common::Time &_simTime)
 Load.
 
JointState operator+ (const JointState &_state) const
 Addition operator.
 
JointState operator- (const JointState &_state) const
 Subtraction operator.
 
State operator- (const State &_state) const
 Subtraction operator.
 
JointStateoperator= (const JointState &_state)
 Assignment operator.
 
double Position (const unsigned int _axis=0) const
 Get the joint position.
 
const std::vector< double > & Positions () const
 Get the joint positions.
 
virtual void SetIterations (const uint64_t _iterations)
 Set the iterations when this state was generated.
 
void SetName (const std::string &_name)
 Set the name associated with this State.
 
virtual void SetRealTime (const common::Time &_time)
 Set the real time when this state was generated.
 
virtual void SetSimTime (const common::Time &_time)
 Set the sim time when this state was generated.
 
virtual void SetWallTime (const common::Time &_time)
 Set the wall time when this state was generated.
 

Protected Attributes

uint64_t iterations = 0
 The number of simulation iterations when this state was generated.
 
std::string name
 Name associated with this State.
 
common::Time realTime
 
common::Time simTime
 
common::Time wallTime
 Times for the state data.
 

Detailed Description

keeps track of state of a physics::Joint

Constructor & Destructor Documentation

◆ JointState() [1/4]

Default constructor.

◆ JointState() [2/4]

JointState ( JointPtr _joint,
const common::Time & _realTime,
const common::Time & _simTime,
const uint64_t _iterations )

Constructor.

Parameters
[in]_jointJoint to get the state of.
[in]_realTimeReal time stamp.
[in]_simTimeSim time stamp.
[in]_iterationsSimulation iterations.

◆ JointState() [3/4]

JointState ( JointPtr _joint)
explicit

Constructor.

Parameters
[in]_jointJoint to get the state of.

◆ JointState() [4/4]

JointState ( const sdf::ElementPtr _sdf)
explicit

Constructor.

Build a JointState from SDF data

Parameters
[in]_sdfSDF data to load a joint state from.

◆ ~JointState()

virtual ~JointState ( )
virtual

Destructor.

Member Function Documentation

◆ FillSDF()

void FillSDF ( sdf::ElementPtr _sdf)

Populate a state SDF element with data from the object.

Parameters
[out]_sdfSDF element to populate.

◆ GetAngleCount()

unsigned int GetAngleCount ( ) const

Get the number of angles.

Returns
The number of angles.

◆ GetIterations()

uint64_t GetIterations ( ) const
inherited

Get the iterations when this state was generated.

Returns
Iterations when the data was recorded

◆ GetName()

std::string GetName ( ) const
inherited

Get the name associated with this State.

Returns
Name associated with this state information. Typically a name of an Entity.

◆ GetRealTime()

common::Time GetRealTime ( ) const
inherited

Get the real time when this state was generated.

Returns
Clock time since simulation was stated.

◆ GetSimTime()

common::Time GetSimTime ( ) const
inherited

Get the sim time when this state was generated.

Returns
Simulation time when the data was recorded.

◆ GetWallTime()

common::Time GetWallTime ( ) const
inherited

Get the wall time when this state was generated.

Returns
The absolute clock time when the State data was recorded.

◆ IsZero()

bool IsZero ( ) const

Return true if the values in the state are zero.

Returns
True if the values in the state are zero.

◆ Load() [1/2]

virtual void Load ( const sdf::ElementPtr _elem)
virtual

Load state from SDF element.

Parameters
[in]_elemSDf values to load from.

Reimplemented from State.

◆ Load() [2/2]

void Load ( JointPtr _joint,
const common::Time & _realTime,
const common::Time & _simTime )

Load.

Parameters
[in]_jointJoint to get the state of.
[in]_realTimeReal time stamp.
[in]_simTimeSim time stamp.

◆ operator+()

JointState operator+ ( const JointState & _state) const

Addition operator.

Parameters
[in]_ptA state to add.
Returns
The resulting state.

◆ operator-() [1/2]

JointState operator- ( const JointState & _state) const

Subtraction operator.

Parameters
[in]_ptA state to substract.
Returns
The resulting state.

◆ operator-() [2/2]

State operator- ( const State & _state) const
inherited

Subtraction operator.

Parameters
[in]_ptA state to substract.
Returns
The resulting state.

◆ operator=()

JointState & operator= ( const JointState & _state)

Assignment operator.

Parameters
[in]_stateState value
Returns
this

◆ Position()

double Position ( const unsigned int _axis = 0) const

Get the joint position.

For rotational axes, the value is in radians. For prismatic axes, it is in meters.

It returns ignition::math::NAN_D in case the position can't be obtained. For instance, if the index is invalid.

Parameters
[in]_indexIndex of the axis, defaults to 0.
Returns
Position of the axis.

◆ Positions()

const std::vector< double > & Positions ( ) const

Get the joint positions.

For rotational axes, the value is in radians. For prismatic axes, it is in meters.

Returns
Vector of joint positions.

◆ SetIterations()

virtual void SetIterations ( const uint64_t _iterations)
virtualinherited

Set the iterations when this state was generated.

Parameters
[in]_iterationsIterations when the data was recorded.

Reimplemented in LinkState, ModelState, and WorldState.

◆ SetName()

void SetName ( const std::string & _name)
inherited

Set the name associated with this State.

Parameters
[in]_nameName associated with this state information. Typically the name of an Entity.

◆ SetRealTime()

virtual void SetRealTime ( const common::Time & _time)
virtualinherited

Set the real time when this state was generated.

Parameters
[in]_timeClock time since simulation was stated.

Reimplemented in LinkState, ModelState, and WorldState.

◆ SetSimTime()

virtual void SetSimTime ( const common::Time & _time)
virtualinherited

Set the sim time when this state was generated.

Parameters
[in]_timeSimulation time when the data was recorded.

Reimplemented in LinkState, ModelState, and WorldState.

◆ SetWallTime()

virtual void SetWallTime ( const common::Time & _time)
virtualinherited

Set the wall time when this state was generated.

Parameters
[in]_timeThe absolute clock time when the State data was recorded.

Reimplemented in LinkState, ModelState, and WorldState.

Member Data Documentation

◆ iterations

uint64_t iterations = 0
protectedinherited

The number of simulation iterations when this state was generated.

◆ name

std::string name
protectedinherited

Name associated with this State.

◆ realTime

common::Time realTime
protectedinherited

◆ simTime

common::Time simTime
protectedinherited

◆ wallTime

common::Time wallTime
protectedinherited

Times for the state data.


The documentation for this class was generated from the following file: