17#ifndef GAZEBO_PHYSICS_WORLD_HH_
18#define GAZEBO_PHYSICS_WORLD_HH_
27#include <boost/enable_shared_from_this.hpp>
74 class GZ_PHYSICS_VISIBLE
World :
75 public boost::enable_shared_from_this<World>
80 public:
explicit World(
const std::string &_name =
"");
88 public:
void Load(sdf::ElementPtr _sdf);
92 public:
const sdf::ElementPtr
SDF();
97 public:
void Save(
const std::string &_filename);
107 public:
void Run(
const unsigned int _iterations = 0);
129 public: std::string
Name()
const;
154 public: ignition::math::Vector3d
Gravity()
const;
158 public:
void SetGravity(
const ignition::math::Vector3d &_gravity);
276 const ignition::math::Vector3d &_pt)
const;
284 const ignition::math::Vector3d &_pt)
const;
322 public:
void Step(
const unsigned int _steps);
329 const std::string &_name,
330 sdf::ElementPtr _sdf);
459 private:
ModelPtr ModelById(
const unsigned int _id)
const;
465 private:
void LoadPlugins();
470 private:
void LoadEntities(sdf::ElementPtr _sdf,
BasePtr _parent);
498 private:
void RunLoop();
501 private:
void Step();
504 private:
void LogStep();
507 private:
void Update();
511 private:
void OnPause(
bool _p);
514 private:
void OnStep();
518 private:
void OnControl(ConstWorldControlPtr &_data);
522 private:
void OnPlaybackControl(ConstLogPlaybackControlPtr &_data);
526 private:
void OnRequest(ConstRequestPtr &_msg);
532 private:
void BuildSceneMsg(msgs::Scene &_scene,
BasePtr _entity);
536 private:
void JointLog(ConstJointPtr &_msg);
540 private:
void OnFactoryMsg(ConstFactoryPtr &_data);
544 private:
void OnModelMsg(ConstModelPtr &_msg);
547 private:
void ModelUpdateTBB();
550 private:
void ModelUpdateSingleLoop();
554 private:
void LoadPlugin(sdf::ElementPtr _sdf);
559 private:
void FillModelMsg(msgs::Model &_msg,
ModelPtr _model);
563 private:
void ProcessEntityMsgs();
567 private:
void ProcessRequestMsgs();
571 private:
void ProcessFactoryMsgs();
575 private:
void ProcessModelMsgs();
579 private:
void ProcessLightFactoryMsgs();
583 private:
void ProcessLightModifyMsgs();
587 private:
void ProcessPlaybackControlMsgs();
590 private:
bool OnLog(std::ostringstream &_stream);
594 private:
void LogModelResources();
597 private:
void ProcessMessages();
600 private:
void PublishWorldStats();
603 private:
void LogWorker();
606 private:
void RegisterIntrospectionItems();
609 private:
void UnregisterIntrospectionItems();
614 private:
void OnLightFactoryMsg(ConstLightPtr &_msg);
619 private:
void OnLightModifyMsg(ConstLightPtr &_msg);
637 private:
bool PluginInfoService(
const ignition::msgs::StringMsg &_request,
638 ignition::msgs::Plugin_V &_plugins);
642 private: std::unique_ptr<WorldPrivate> dataPtr;
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
DART Link class.
Definition DARTLink.hh:40
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