ModelState.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
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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
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16*/
17
18#ifndef GAZEBO_PHYSICS_MODELSTATE_HH_
19#define GAZEBO_PHYSICS_MODELSTATE_HH_
20
21#include <vector>
22#include <string>
23#include <boost/regex.hpp>
24
25#include <ignition/math/Pose3.hh>
26#include <ignition/math/Vector3.hh>
27
31#include "gazebo/util/system.hh"
32
33namespace gazebo
34{
35 namespace physics
36 {
39
48 class GZ_PHYSICS_VISIBLE ModelState : public State
49 {
51 public: ModelState();
52
61 public: ModelState(const ModelPtr _model, const common::Time &_realTime,
62 const common::Time &_simTime, const uint64_t _iterations);
63
69 public: explicit ModelState(const ModelPtr _model);
70
75 public: explicit ModelState(const sdf::ElementPtr _sdf);
76
78 public: virtual ~ModelState();
79
88 public: void Load(const ModelPtr _model, const common::Time &_realTime,
89 const common::Time &_simTime, const uint64_t _iterations);
90
95 public: virtual void Load(const sdf::ElementPtr _elem);
96
99 public: const ignition::math::Pose3d &Pose() const;
100
103 public: const ignition::math::Vector3d &Scale() const;
104
107 public: bool IsZero() const;
108
113 public: unsigned int GetLinkStateCount() const;
114
119 public: LinkState_M GetLinkStates(const boost::regex &_regex) const;
120
125 public: JointState_M GetJointStates(const boost::regex &_regex) const;
126
134 public: LinkState GetLinkState(const std::string &_linkName) const;
135
139 public: bool HasLinkState(const std::string &_linkName) const;
140
143 public: const LinkState_M &GetLinkStates() const;
144
149 public: unsigned int GetJointStateCount() const;
150
158 public: JointState GetJointState(unsigned int _index) const;
159
167 public: JointState GetJointState(const std::string &_jointName) const;
168
171 public: const JointState_M &GetJointStates() const;
172
176 public: bool HasJointState(const std::string &_jointName) const;
177
182 public: unsigned int NestedModelStateCount() const;
183
191 public: ModelState NestedModelState(const std::string &_modelName) const;
192
196 public: bool HasNestedModelState(const std::string &_modelName) const;
197
200 public: const ModelState_M &NestedModelStates() const;
201
204 public: void FillSDF(sdf::ElementPtr _sdf);
205
209 public: virtual void SetWallTime(const common::Time &_time);
210
213 public: virtual void SetRealTime(const common::Time &_time);
214
217 public: virtual void SetSimTime(const common::Time &_time);
218
222 public: virtual void SetIterations(const uint64_t _iterations);
223
227 public: ModelState &operator=(const ModelState &_state);
228
232 public: ModelState operator-(const ModelState &_state) const;
233
237 public: ModelState operator+(const ModelState &_state) const;
238
243 public: inline friend std::ostream &operator<<(std::ostream &_out,
244 const gazebo::physics::ModelState &_state)
245 {
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() << "'>"
250 << "<pose>"
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) << " "
257 << "</pose>";
258
259 // Only record scale if it is not the default value of [1, 1, 1].
260 if (_state.scale != ignition::math::Vector3d::One)
261 _out << "<scale>" << _state.scale << "</scale>";
262
263 for (LinkState_M::const_iterator iter =
264 _state.linkStates.begin(); iter != _state.linkStates.end();
265 ++iter)
266 {
267 _out << iter->second;
268 }
269
270 for (const auto &ms : _state.modelStates)
271 {
272 _out << ms.second;
273 }
274
275 // Output the joint information
276 // for (JointState_M::const_iterator iter =
277 // _state.jointStates.begin(); iter != _state.jointStates.end();
278 // ++iter)
279 // {
280 // _out << iter->second;
281 // }
282
283 _out << "</model>";
284
285 return _out;
286 }
287
289 private: ignition::math::Pose3d pose;
290
292 private: ignition::math::Vector3d scale;
293
295 private: LinkState_M linkStates;
296
298 private: JointState_M jointStates;
299
301 private: ModelState_M modelStates;
302 };
304 }
305}
306#endif
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