Base.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
18#ifndef GAZEBO_PHYSICS_BASE_HH_
19#define GAZEBO_PHYSICS_BASE_HH_
20
21#include <boost/enable_shared_from_this.hpp>
22#include <string>
23#include <vector>
24
25#include <sdf/sdf.hh>
26
27#include "gazebo/common/URI.hh"
29#include "gazebo/util/system.hh"
30
31namespace gazebo
32{
34 namespace physics
35 {
39
41 static std::string EntityTypename[] = {
42 "common",
43 "entity",
44 "model",
45 "actor",
46 "link",
47 "collision",
48 "light",
49 "visual",
50 "joint",
51 "ball",
52 "hinge2",
53 "hinge",
54 "slider",
55 "universal",
56 "shape",
57 "box",
58 "cylinder",
59 "heightmap",
60 "map",
61 "multiray",
62 "ray",
63 "plane",
64 "sphere",
65 "trimesh",
66 "polyline"
67 };
68
71 class GZ_PHYSICS_VISIBLE Base : public boost::enable_shared_from_this<Base>
72 {
75 public: enum EntityType {
77 BASE = 0x00000000,
79 ENTITY = 0x00000001,
81 MODEL = 0x00000002,
83 LINK = 0x00000004,
85 COLLISION = 0x00000008,
87 LIGHT = 0x00000010,
89 VISUAL = 0x00000020,
90
92 JOINT = 0x00000040,
94 BALL_JOINT = 0x00000080,
96 HINGE2_JOINT = 0x00000100,
98 HINGE_JOINT = 0x00000200,
100 SLIDER_JOINT = 0x00000400,
102 SCREW_JOINT = 0x00000800,
104 UNIVERSAL_JOINT = 0x00001000,
106 GEARBOX_JOINT = 0x00002000,
108 FIXED_JOINT = 0x00004000,
109
111 ACTOR = 0x00008000,
112
114 SHAPE = 0x00010000,
116 BOX_SHAPE = 0x00020000,
118 CYLINDER_SHAPE = 0x00040000,
120 HEIGHTMAP_SHAPE = 0x00080000,
122 MAP_SHAPE = 0x00100000,
124 MULTIRAY_SHAPE = 0x00200000,
126 RAY_SHAPE = 0x00400000,
128 PLANE_SHAPE = 0x00800000,
130 SPHERE_SHAPE = 0x01000000,
132 MESH_SHAPE = 0x02000000,
134 POLYLINE_SHAPE = 0x04000000,
135
137 SENSOR_COLLISION = 0x10000000
138 };
139
142 public: explicit Base(BasePtr _parent);
143
145 public: virtual ~Base();
146
149 public: virtual void Load(sdf::ElementPtr _sdf);
150
152 public: virtual void Fini();
153
155 public: virtual void Init() {}
156
158 public: virtual void Reset();
159
162 public: virtual void Reset(Base::EntityType _resetType);
163
165 public: virtual void Update() {}
166
170 public: virtual void UpdateParameters(sdf::ElementPtr _sdf);
171
174 public: virtual void SetName(const std::string &_name);
175
178 public: std::string GetName() const;
179
182 public: uint32_t GetId() const;
183
187 public: void SetSaveable(bool _v);
188
192 public: bool GetSaveable() const;
193
196 public: int GetParentId() const;
197
200 public: void SetParent(BasePtr _parent);
201
204 public: BasePtr GetParent() const;
205
208 public: void AddChild(BasePtr _child);
209
212 public: virtual void RemoveChild(unsigned int _id);
213
215 public: void RemoveChildren();
216
219 public: unsigned int GetChildCount() const;
220
226 public: BasePtr GetById(unsigned int _id) const;
228
232 public: BasePtr GetByName(const std::string &_name);
233
237 public: BasePtr GetChild(unsigned int _i) const;
238
242 public: BasePtr GetChild(const std::string &_name);
243
246 public: void RemoveChild(const std::string &_name);
247
250 public: void RemoveChild(physics::BasePtr _child);
251
255 public: void AddType(EntityType _type);
256
261 public: bool HasType(const EntityType &_t) const;
262
265 public: unsigned int GetType() const;
266
269 public: std::string TypeStr() const;
270
277 public: std::string GetScopedName(bool _prependWorldName = false) const;
278
285 public: common::URI URI() const;
286
289 public: void Print(const std::string &_prefix);
290
294 public: virtual bool SetSelected(bool _show);
295
298 public: bool IsSelected() const;
299
304 public: bool operator ==(const Base &_ent) const;
305
309 public: void SetWorld(const WorldPtr &_newWorld);
310
313 public: const WorldPtr &GetWorld() const;
314
317 public: virtual const sdf::ElementPtr GetSDF();
318
320 protected: virtual void RegisterIntrospectionItems();
321
323 protected: virtual void UnregisterIntrospectionItems();
324
328 protected: void ComputeScopedName();
329
331 protected: sdf::ElementPtr sdf;
332
334 protected: BasePtr parent;
335
337 protected: Base_V children;
338
340 protected: WorldPtr world;
341
343 protected: std::vector<common::URI> introspectionItems;
344
346 private: bool saveable;
347
349 private: uint32_t id;
350
352 private: unsigned int type;
353
355 private: std::string typeStr;
356
358 private: bool selected;
359
361 private: std::string name;
362
364 private: std::string scopedName;
365
366 protected: friend class Entity;
367 };
369 }
370}
371#endif
default namespace for gazebo
A complete URI.
Definition URI.hh:177
Base class for most physics classes.
Definition Base.hh:72
unsigned int GetType() const
Get the full type definition.
BasePtr parent
Parent of this entity.
Definition Base.hh:334
virtual bool SetSelected(bool _show)
Set whether this entity has been selected by the user through the gui.
bool IsSelected() const
True if the entity is selected by the user.
std::string GetScopedName(bool _prependWorldName=false) const
Return the name of this entity with the model scope model1::...::modelN::entityName.
std::vector< common::URI > introspectionItems
All the introspection items regsitered for this.
Definition Base.hh:343
virtual void Fini()
Finialize the object.
BasePtr GetByName(const std::string &_name)
Get by name.
void AddType(EntityType _type)
Add a type specifier.
void Print(const std::string &_prefix)
Print this object to screen via gzmsg.
virtual void Init()
Initialize the object.
Definition Base.hh:155
BasePtr GetChild(unsigned int _i) const
Get a child by index.
void AddChild(BasePtr _child)
Add a child to this entity.
virtual void Reset()
Reset the object.
Base_V children
Children of this entity.
Definition Base.hh:337
Base(BasePtr _parent)
Constructor.
virtual void SetName(const std::string &_name)
Set the name of the entity.
virtual void RemoveChild(unsigned int _id)
Remove a child from this entity.
virtual const sdf::ElementPtr GetSDF()
Get the SDF values for the object.
void RemoveChild(const std::string &_name)
Remove a child by name.
bool HasType(const EntityType &_t) const
Returns true if this object's type definition has the given type.
common::URI URI() const
Return the common::URI of this entity.
void SetParent(BasePtr _parent)
Set the parent.
void SetWorld(const WorldPtr &_newWorld)
Set the world this object belongs to.
virtual void RegisterIntrospectionItems()
Register items in the introspection service.
const WorldPtr & GetWorld() const
Get the World this object is in.
unsigned int GetChildCount() const
Get the number of children.
std::string GetName() const
Return the name of the entity.
sdf::ElementPtr sdf
The SDF values for this object.
Definition Base.hh:331
void RemoveChildren()
Remove all children.
void SetSaveable(bool _v)
Set whether the object should be "saved", when the user selects to save the world to xml.
BasePtr GetChild(const std::string &_name)
Get a child by name.
virtual ~Base()
Destructor.
int GetParentId() const
Return the ID of the parent.
void ComputeScopedName()
Compute the scoped name of this object based on its parents.
WorldPtr world
Pointer to the world.
Definition Base.hh:340
virtual void Load(sdf::ElementPtr _sdf)
Load.
virtual void UnregisterIntrospectionItems()
Unregister items in the introspection service.
uint32_t GetId() const
Return the ID of this entity.
bool operator==(const Base &_ent) const
Returns true if the entities are the same.
virtual void UpdateParameters(sdf::ElementPtr _sdf)
Update the parameters using new sdf values.
EntityType
Unique identifiers for all entity types.
Definition Base.hh:75
@ SENSOR_COLLISION
Indicates a collision shape used for sensing.
Definition Base.hh:137
@ SLIDER_JOINT
SliderJoint type.
Definition Base.hh:100
@ ENTITY
Entity type.
Definition Base.hh:79
@ PLANE_SHAPE
PlaneShape type.
Definition Base.hh:128
@ SCREW_JOINT
ScrewJoint type.
Definition Base.hh:102
@ SHAPE
Shape type.
Definition Base.hh:114
@ HEIGHTMAP_SHAPE
HeightmapShape type.
Definition Base.hh:120
@ CYLINDER_SHAPE
CylinderShape type.
Definition Base.hh:118
@ UNIVERSAL_JOINT
UniversalJoint type.
Definition Base.hh:104
@ ACTOR
Actor type.
Definition Base.hh:111
@ MODEL
Model type.
Definition Base.hh:81
@ SPHERE_SHAPE
SphereShape type.
Definition Base.hh:130
@ HINGE_JOINT
HingeJoint type.
Definition Base.hh:98
@ RAY_SHAPE
RayShape type.
Definition Base.hh:126
@ BASE
Base type.
Definition Base.hh:77
@ VISUAL
Visual type.
Definition Base.hh:89
@ JOINT
Joint type.
Definition Base.hh:92
@ MULTIRAY_SHAPE
MultiRayShape type.
Definition Base.hh:124
@ GEARBOX_JOINT
GearboxJoint type.
Definition Base.hh:106
@ COLLISION
Collision type.
Definition Base.hh:85
@ MESH_SHAPE
MeshShape type.
Definition Base.hh:132
@ POLYLINE_SHAPE
PolylineShape type.
Definition Base.hh:134
@ BOX_SHAPE
BoxShape type.
Definition Base.hh:116
@ FIXED_JOINT
FixedJoint type.
Definition Base.hh:108
@ LINK
Link type.
Definition Base.hh:83
@ LIGHT
Light type.
Definition Base.hh:87
@ BALL_JOINT
BallJoint type.
Definition Base.hh:94
@ MAP_SHAPE
MapShape type.
Definition Base.hh:122
@ HINGE2_JOINT
Hing2Joint type.
Definition Base.hh:96
void RemoveChild(physics::BasePtr _child)
Remove a child by pointer.
std::string TypeStr() const
Get the string name for the entity type.
virtual void Reset(Base::EntityType _resetType)
Calls recursive Reset on one of the Base::EntityType's.
bool GetSaveable() const
Get whether the object should be "saved", when the user selects to save the world to xml.
BasePtr GetParent() const
Get the parent.
virtual void Update()
Update the object.
Definition Base.hh:165
Base class for all physics objects in Gazebo.
Definition Entity.hh:53
static std::string EntityTypename[]
String names for the different entity types.
Definition Base.hh:41
std::vector< BasePtr > Base_V
Definition PhysicsTypes.hh:201
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
boost::shared_ptr< World > WorldPtr
Definition PhysicsTypes.hh:89
Forward declarations for the common classes.
Definition Animation.hh:27