18#ifndef GAZEBO_PHYSICS_MODELSTATE_HH_
19#define GAZEBO_PHYSICS_MODELSTATE_HH_
23#include <boost/regex.hpp>
25#include <ignition/math/Pose3.hh>
26#include <ignition/math/Vector3.hh>
62 const common::Time &_simTime,
const uint64_t _iterations);
89 const common::Time &_simTime,
const uint64_t _iterations);
95 public:
virtual void Load(
const sdf::ElementPtr _elem);
99 public:
const ignition::math::Pose3d &
Pose()
const;
103 public:
const ignition::math::Vector3d &
Scale()
const;
243 public:
inline friend std::ostream &
operator<<(std::ostream &_out,
246 ignition::math::Vector3d euler(_state.pose.Rot().Euler());
247 _out.unsetf(std::ios_base::floatfield);
248 _out << std::setprecision(3)
249 <<
"<model name='" << _state.
GetName() <<
"'>"
251 << ignition::math::precision(_state.pose.Pos().X(), 4) <<
" "
252 << ignition::math::precision(_state.pose.Pos().Y(), 4) <<
" "
253 << ignition::math::precision(_state.pose.Pos().Z(), 4) <<
" "
254 << ignition::math::precision(euler.X(), 4) <<
" "
255 << ignition::math::precision(euler.Y(), 4) <<
" "
256 << ignition::math::precision(euler.Z(), 4) <<
" "
260 if (_state.scale != ignition::math::Vector3d::One)
261 _out <<
"<scale>" << _state.scale <<
"</scale>";
263 for (LinkState_M::const_iterator iter =
264 _state.linkStates.begin(); iter != _state.linkStates.end();
267 _out << iter->second;
270 for (
const auto &ms : _state.modelStates)
289 private: ignition::math::Pose3d pose;
292 private: ignition::math::Vector3d scale;
A Time class, can be used to hold wall- or sim-time.
Definition Time.hh:48
keeps track of state of a physics::Joint
Definition JointState.hh:37
Store state information of a physics::Link object.
Definition LinkState.hh:48
Store state information of a physics::Model object.
Definition ModelState.hh:49
LinkState_M GetLinkStates(const boost::regex &_regex) const
Get link states based on a regular expression.
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.
bool HasLinkState(const std::string &_linkName) const
Return true if there is a link with the specified name.
ModelState(const ModelPtr _model)
Constructor.
const LinkState_M & GetLinkStates() const
Get the link states.
ModelState()
Default constructor.
virtual void SetWallTime(const common::Time &_time)
Set the wall time when this state was generated.
const ignition::math::Pose3d & Pose() const
Get the stored model pose.
LinkState GetLinkState(const std::string &_linkName) const
Get a link state by Link name.
ModelState(const sdf::ElementPtr _sdf)
Constructor.
bool HasNestedModelState(const std::string &_modelName) const
Return true if there is a nested model with the specified name.
JointState_M GetJointStates(const boost::regex &_regex) const
Get joint states based on a regular expression.
ModelState operator+(const ModelState &_state) const
Addition operator.
const JointState_M & GetJointStates() const
Get the joint states.
ModelState(const ModelPtr _model, const common::Time &_realTime, const common::Time &_simTime, const uint64_t _iterations)
Constructor.
bool IsZero() const
Return true if the values in the state are zero.
bool HasJointState(const std::string &_jointName) const
Return true if there is a joint with the specified name.
unsigned int GetJointStateCount() const
Get the number of joint states.
JointState GetJointState(const std::string &_jointName) const
Get a Joint state by Joint name.
unsigned int NestedModelStateCount() const
Get the number of model states.
unsigned int GetLinkStateCount() const
Get the number of link states.
const ignition::math::Vector3d & Scale() const
Get the stored model scale.
JointState GetJointState(unsigned int _index) const
Get a Joint state.
void Load(const ModelPtr _model, const common::Time &_realTime, const common::Time &_simTime, const uint64_t _iterations)
Load state from Model pointer.
virtual ~ModelState()
Destructor.
friend std::ostream & operator<<(std::ostream &_out, const gazebo::physics::ModelState &_state)
Stream insertion operator.
Definition ModelState.hh:243
void FillSDF(sdf::ElementPtr _sdf)
Populate a state SDF element with data from the object.
virtual void Load(const sdf::ElementPtr _elem)
Load state from SDF element.
ModelState & operator=(const ModelState &_state)
Assignment operator.
const ModelState_M & NestedModelStates() const
Get the nested model states.
virtual void SetIterations(const uint64_t _iterations)
Set the simulation iterations when this state was generated.
ModelState operator-(const ModelState &_state) const
Subtraction operator.
ModelState NestedModelState(const std::string &_modelName) const
Get a model state by model name.
State of an entity.
Definition State.hh:44
std::string GetName() const
Get the name associated with this State.
std::map< std::string, ModelState > ModelState_M
Definition PhysicsTypes.hh:233
std::map< std::string, LinkState > LinkState_M
Definition PhysicsTypes.hh:241
std::map< std::string, JointState > JointState_M
Definition PhysicsTypes.hh:245
boost::shared_ptr< Model > ModelPtr
Definition PhysicsTypes.hh:93
Forward declarations for the common classes.
Definition Animation.hh:27