Link.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#ifndef GAZEBO_PHYSICS_LINK_HH_
18#define GAZEBO_PHYSICS_LINK_HH_
19
20#include <map>
21#include <vector>
22#include <string>
23#include <ignition/math/Matrix3.hh>
24
25#include "gazebo/msgs/msgs.hh"
26
29
34#include "gazebo/util/system.hh"
35
36namespace gazebo
37{
38 namespace physics
39 {
40 class Model;
41 class Collision;
42 class Battery;
43 class LinkPrivate;
44
47
52 class GZ_PHYSICS_VISIBLE Link : public Entity
53 {
56 public: explicit Link(EntityPtr _parent);
57
59 public: virtual ~Link();
60
63 public: virtual void Load(sdf::ElementPtr _sdf);
64
66 public: virtual void Init();
67
69 public: void Fini();
70
72 public: void Reset();
73 using Entity::Reset;
74
76 public: void ResetPhysicsStates();
77
80 public: virtual void UpdateParameters(sdf::ElementPtr _sdf);
81
84 public: void Update(const common::UpdateInfo &_info);
85 using Base::Update;
86
89 public: void SetScale(const ignition::math::Vector3d &_scale);
90
93 public: virtual void SetEnabled(bool _enable) const = 0;
94
97 public: virtual bool GetEnabled() const = 0;
98
102 public: virtual bool SetSelected(bool _set);
103
106 public: virtual void SetGravityMode(bool _mode) = 0;
107
110 public: virtual bool GetGravityMode() const = 0;
111
114 public: virtual void SetWindMode(const bool _mode);
115
118 public: virtual bool WindMode() const;
119
124 public: virtual void SetSelfCollide(bool _collide) = 0;
125
134 public: void SetCollideMode(const std::string &_mode);
135
143 public: bool GetSelfCollide() const;
144
147 public: void SetLaserRetro(float _retro);
148
151 public: virtual void SetLinearVel(
152 const ignition::math::Vector3d &_vel) = 0;
153
156 public: virtual void SetAngularVel(
157 const ignition::math::Vector3d &_vel) = 0;
158
161 public: virtual void SetForce(
162 const ignition::math::Vector3d &_force) = 0;
163
166 public: virtual void SetTorque(
167 const ignition::math::Vector3d &_torque) = 0;
168
171 public: virtual void AddForce(const ignition::math::Vector3d &_force) = 0;
172
176 public: virtual void AddRelativeForce(
177 const ignition::math::Vector3d &_force) = 0;
178
182 public: virtual void AddForceAtWorldPosition(
183 const ignition::math::Vector3d &_force,
184 const ignition::math::Vector3d &_pos) = 0;
185
194 public: virtual void AddForceAtRelativePosition(
195 const ignition::math::Vector3d &_force,
196 const ignition::math::Vector3d &_relPos) = 0;
197
204 public: virtual void AddLinkForce(
205 const ignition::math::Vector3d &_force,
206 const ignition::math::Vector3d &_offset =
207 ignition::math::Vector3d::Zero) = 0;
208
211 public: virtual void AddTorque(
212 const ignition::math::Vector3d &_torque) = 0;
213
217 public: virtual void AddRelativeTorque(
218 const ignition::math::Vector3d &_torque) = 0;
219
224 public: ignition::math::Pose3d WorldCoGPose() const;
225
229 public: virtual ignition::math::Vector3d WorldLinearVel() const;
230
238 public: virtual ignition::math::Vector3d WorldLinearVel(
239 const ignition::math::Vector3d &_offset) const = 0;
240
248 public: virtual ignition::math::Vector3d WorldLinearVel(
249 const ignition::math::Vector3d &_offset,
250 const ignition::math::Quaterniond &_q) const = 0;
251
256 public: virtual ignition::math::Vector3d WorldCoGLinearVel() const = 0;
257
260 public: ignition::math::Vector3d RelativeLinearVel() const;
261
264 public: ignition::math::Vector3d RelativeAngularVel() const;
265
268 public: ignition::math::Vector3d RelativeLinearAccel() const;
269
272 public: ignition::math::Vector3d WorldLinearAccel() const;
273
276 public: ignition::math::Vector3d RelativeAngularAccel() const;
277
283 public: ignition::math::Vector3d WorldAngularMomentum() const;
284
292 public: ignition::math::Vector3d WorldAngularAccel() const;
293
296 public: ignition::math::Vector3d RelativeForce() const;
297
300 public: virtual ignition::math::Vector3d WorldForce() const = 0;
301
304 public: ignition::math::Vector3d RelativeTorque() const;
305
309 public: virtual ignition::math::Vector3d WorldTorque() const = 0;
310
313 public: ModelPtr GetModel() const;
314
317 public: InertialPtr GetInertial() const {return this->inertial;}
318
321 public: void SetInertial(const InertialPtr &_inertial);
322
328 public: ignition::math::Pose3d WorldInertialPose() const;
329
333 public: ignition::math::Matrix3d WorldInertiaMatrix() const;
334
340 public: CollisionPtr GetCollisionById(unsigned int _id) const;
342
346 public: CollisionPtr GetCollision(const std::string &_name);
347
351 public: CollisionPtr GetCollision(unsigned int _index) const;
352
355 public: Collision_V GetCollisions() const;
356
360 public: virtual ignition::math::Box BoundingBox() const;
361
364 public: virtual void SetLinearDamping(double _damping) = 0;
365
368 public: virtual void SetAngularDamping(double _damping) = 0;
369
372 public: double GetLinearDamping() const;
373
376 public: double GetAngularDamping() const;
377
381 public: virtual void SetKinematic(const bool &_kinematic);
382
386 public: virtual bool GetKinematic() const {return false;}
387
394 public: unsigned int GetSensorCount() const;
395
407 public: std::string GetSensorName(unsigned int _index) const;
408
413 std::function<void (bool)> _subscriber);
414
417 public: void FillMsg(msgs::Link &_msg);
418
421 public: void ProcessMsg(const msgs::Link &_msg);
422
425 public: void AddChildJoint(JointPtr _joint);
426
429 public: void AddParentJoint(JointPtr _joint);
430
433 public: void RemoveParentJoint(const std::string &_jointName);
434
437 public: void RemoveChildJoint(const std::string &_jointName);
438
439 // Documentation inherited.
440 public: virtual void RemoveChild(EntityPtr _child);
441 using Base::RemoveChild;
442
446 public: void AttachStaticModel(ModelPtr &_model,
447 const ignition::math::Pose3d &_offset);
448
451 public: void DetachStaticModel(const std::string &_modelName);
452
454 public: void DetachAllStaticModels();
455
458 public: virtual void OnPoseChange();
459
462 public: void SetState(const LinkState &_state);
463
465 public: virtual void UpdateMass() {}
466
468 public: virtual void UpdateSurface() {}
469
472 public: virtual void SetAutoDisable(bool _disable) = 0;
473
477
481
484 public: void SetPublishData(bool _enable);
485
487 public: Joint_V GetParentJoints() const;
488
490 public: Joint_V GetChildJoints() const;
491
494 public: void RemoveCollision(const std::string &_name);
495
499 public: double GetWorldEnergyPotential() const;
500
504 public: double GetWorldEnergyKinetic() const;
505
510 public: double GetWorldEnergy() const;
511
515 public: msgs::Visual GetVisualMessage(const std::string &_name) const;
516
520 public: virtual void SetLinkStatic(bool _static) = 0;
521
522 // Documentation inherited
523 public: virtual void SetStatic(const bool &_static);
524 using Entity::SetStatic;
525
536 public: void MoveFrame(
537 const ignition::math::Pose3d &_worldReferenceFrameSrc,
538 const ignition::math::Pose3d &_worldReferenceFrameDst,
539 const bool _preserveWorldVelocity = false);
540
556 const LinkPtr &_originalParentLink,
557 Link_V &_connectedLinks, bool _fistLink = false);
558
561 public: void SetWindEnabled(const bool _enable);
562
566 public: const ignition::math::Vector3d WorldWindLinearVel() const;
567
570 public: const ignition::math::Vector3d RelativeWindLinearVel() const;
571
574 public: void UpdateWind(const common::UpdateInfo &_info);
575
579 public: common::BatteryPtr Battery(const std::string &_name) const;
580
583 public: common::BatteryPtr Battery(const size_t _index) const;
584
588 public: size_t BatteryCount() const;
589
594 public: bool VisualId(const std::string &_visName, uint32_t &_visualId)
595 const;
596
601 public: bool VisualPose(const uint32_t _id,
602 ignition::math::Pose3d &_pose) const;
603
608 public: bool SetVisualPose(const uint32_t _id,
609 const ignition::math::Pose3d &_pose);
610
613 typedef std::map<uint32_t, msgs::Visual> Visuals_M;
614
617 public: const Visuals_M &Visuals() const;
618
620 private: void PublishData();
621
624 private: void LoadCollision(sdf::ElementPtr _sdf);
625
628 private: void LoadLight(sdf::ElementPtr _sdf);
629
632 private: void SetInertialFromCollisions();
633
636 private: void OnCollision(ConstContactsPtr &_msg);
637
639 private: void ParseVisuals();
640
645 private: bool ContainsLink(const Link_V &_vector, const LinkPtr &_value);
646
649 private: void UpdateVisualGeomSDF(const ignition::math::Vector3d &_scale);
650
652 private: void UpdateVisualMsg();
653
657 private: void OnWrenchMsg(ConstWrenchPtr &_msg);
658
661 private: void ProcessWrenchMsg(const msgs::Wrench &_msg);
662
665 private: void LoadBattery(const sdf::ElementPtr _sdf);
666
668 protected: virtual void RegisterIntrospectionItems();
669
672
674 protected: Visuals_M visuals;
675
677 protected: std::vector<ignition::math::Pose3d> attachedModelsOffset;
678
680 protected: bool initialized = false;
681
683 private: std::unique_ptr<LinkPrivate> dataPtr;
684 };
686 }
687}
688#endif
Information for use in an update event.
Definition UpdateInfo.hh:31
virtual void RemoveChild(unsigned int _id)
Remove a child from this entity.
virtual void Update()
Update the object.
Definition Base.hh:165
Base class for all physics objects in Gazebo.
Definition Entity.hh:53
virtual void Reset()
Reset the entity.
void SetStatic(const bool &_static)
Set whether this entity is static: immovable.
Store state information of a physics::Link object.
Definition LinkState.hh:48
std::shared_ptr< Battery > BatteryPtr
Definition CommonTypes.hh:125
boost::shared_ptr< Connection > ConnectionPtr
Definition CommonTypes.hh:134
boost::shared_ptr< Link > LinkPtr
Definition PhysicsTypes.hh:109
boost::shared_ptr< Inertial > InertialPtr
Definition PhysicsTypes.hh:157
boost::shared_ptr< Collision > CollisionPtr
Definition PhysicsTypes.hh:113
std::vector< JointPtr > Joint_V
Definition PhysicsTypes.hh:213
boost::shared_ptr< Entity > EntityPtr
Definition PhysicsTypes.hh:85
std::vector< LinkPtr > Link_V
Definition PhysicsTypes.hh:225
std::vector< CollisionPtr > Collision_V
Definition PhysicsTypes.hh:229
boost::shared_ptr< Model > ModelPtr
Definition PhysicsTypes.hh:93
boost::shared_ptr< Joint > JointPtr
Definition PhysicsTypes.hh:117
Forward declarations for the common classes.
Definition Animation.hh:27