Base class for most physics classes. More...
#include <physics/physics.hh>
Inherits enable_shared_from_this< Base >.
Inherited by Entity, Joint, Road, and Shape.
Public Types | |
enum | EntityType { BASE = 0x00000000 , ENTITY = 0x00000001 , MODEL = 0x00000002 , LINK = 0x00000004 , COLLISION = 0x00000008 , LIGHT = 0x00000010 , VISUAL = 0x00000020 , JOINT = 0x00000040 , BALL_JOINT = 0x00000080 , HINGE2_JOINT = 0x00000100 , HINGE_JOINT = 0x00000200 , SLIDER_JOINT = 0x00000400 , SCREW_JOINT = 0x00000800 , UNIVERSAL_JOINT = 0x00001000 , GEARBOX_JOINT = 0x00002000 , FIXED_JOINT = 0x00004000 , ACTOR = 0x00008000 , SHAPE = 0x00010000 , BOX_SHAPE = 0x00020000 , CYLINDER_SHAPE = 0x00040000 , HEIGHTMAP_SHAPE = 0x00080000 , MAP_SHAPE = 0x00100000 , MULTIRAY_SHAPE = 0x00200000 , RAY_SHAPE = 0x00400000 , PLANE_SHAPE = 0x00800000 , SPHERE_SHAPE = 0x01000000 , MESH_SHAPE = 0x02000000 , POLYLINE_SHAPE = 0x04000000 , SENSOR_COLLISION = 0x10000000 } |
Unique identifiers for all entity types. More... | |
Public Member Functions | |
Base (BasePtr _parent) | |
Constructor. | |
virtual | ~Base () |
Destructor. | |
void | AddChild (BasePtr _child) |
Add a child to this entity. | |
void | AddType (EntityType _type) |
Add a type specifier. | |
virtual void | Fini () |
Finialize the object. | |
BasePtr | GetByName (const std::string &_name) |
Get by name. | |
BasePtr | GetChild (const std::string &_name) |
Get a child by name. | |
BasePtr | GetChild (unsigned int _i) const |
Get a child by index. | |
unsigned int | GetChildCount () const |
Get the number of children. | |
uint32_t | GetId () const |
Return the ID of this entity. | |
std::string | GetName () const |
Return the name of the entity. | |
BasePtr | GetParent () const |
Get the parent. | |
int | GetParentId () const |
Return the ID of the parent. | |
bool | GetSaveable () const |
Get whether the object should be "saved", when the user selects to save the world to xml. | |
std::string | GetScopedName (bool _prependWorldName=false) const |
Return the name of this entity with the model scope model1::...::modelN::entityName. | |
virtual const sdf::ElementPtr | GetSDF () |
Get the SDF values for the object. | |
unsigned int | GetType () const |
Get the full type definition. | |
const WorldPtr & | GetWorld () const |
Get the World this object is in. | |
bool | HasType (const EntityType &_t) const |
Returns true if this object's type definition has the given type. | |
virtual void | Init () |
Initialize the object. | |
bool | IsSelected () const |
True if the entity is selected by the user. | |
virtual void | Load (sdf::ElementPtr _sdf) |
Load. | |
bool | operator== (const Base &_ent) const |
Returns true if the entities are the same. | |
void | Print (const std::string &_prefix) |
Print this object to screen via gzmsg. | |
void | RemoveChild (const std::string &_name) |
Remove a child by name. | |
void | RemoveChild (physics::BasePtr _child) |
Remove a child by pointer. | |
virtual void | RemoveChild (unsigned int _id) |
Remove a child from this entity. | |
void | RemoveChildren () |
Remove all children. | |
virtual void | Reset () |
Reset the object. | |
virtual void | Reset (Base::EntityType _resetType) |
Calls recursive Reset on one of the Base::EntityType's. | |
virtual void | SetName (const std::string &_name) |
Set the name of the entity. | |
void | SetParent (BasePtr _parent) |
Set the parent. | |
void | SetSaveable (bool _v) |
Set whether the object should be "saved", when the user selects to save the world to xml. | |
virtual bool | SetSelected (bool _show) |
Set whether this entity has been selected by the user through the gui. | |
void | SetWorld (const WorldPtr &_newWorld) |
Set the world this object belongs to. | |
std::string | TypeStr () const |
Get the string name for the entity type. | |
virtual void | Update () |
Update the object. | |
virtual void | UpdateParameters (sdf::ElementPtr _sdf) |
Update the parameters using new sdf values. | |
common::URI | URI () const |
Return the common::URI of this entity. | |
Protected Member Functions | |
void | ComputeScopedName () |
Compute the scoped name of this object based on its parents. | |
virtual void | RegisterIntrospectionItems () |
Register items in the introspection service. | |
virtual void | UnregisterIntrospectionItems () |
Unregister items in the introspection service. | |
Protected Attributes | |
Base_V | children |
Children of this entity. | |
std::vector< common::URI > | introspectionItems |
All the introspection items regsitered for this. | |
BasePtr | parent |
Parent of this entity. | |
sdf::ElementPtr | sdf |
The SDF values for this object. | |
WorldPtr | world |
Pointer to the world. | |
Base class for most physics classes.
enum EntityType |
Unique identifiers for all entity types.
Enumerator | |
---|---|
BASE | Base type. |
ENTITY | Entity type. |
MODEL | Model type. |
LINK | Link type. |
COLLISION | Collision type. |
LIGHT | Light type. |
VISUAL | Visual type. |
JOINT | Joint type. |
BALL_JOINT | BallJoint type. |
HINGE2_JOINT | Hing2Joint type. |
HINGE_JOINT | HingeJoint type. |
SLIDER_JOINT | SliderJoint type. |
SCREW_JOINT | ScrewJoint type. |
UNIVERSAL_JOINT | UniversalJoint type. |
GEARBOX_JOINT | GearboxJoint type. |
FIXED_JOINT | FixedJoint type. |
ACTOR | Actor type. |
SHAPE | Shape type. |
BOX_SHAPE | BoxShape type. |
CYLINDER_SHAPE | CylinderShape type. |
HEIGHTMAP_SHAPE | HeightmapShape type. |
MAP_SHAPE | MapShape type. |
MULTIRAY_SHAPE | MultiRayShape type. |
RAY_SHAPE | RayShape type. |
PLANE_SHAPE | PlaneShape type. |
SPHERE_SHAPE | SphereShape type. |
MESH_SHAPE | MeshShape type. |
POLYLINE_SHAPE | PolylineShape type. |
SENSOR_COLLISION | Indicates a collision shape used for sensing. |
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virtual |
Destructor.
void AddChild | ( | BasePtr | _child | ) |
Add a child to this entity.
[in] | _child | Child entity. |
void AddType | ( | EntityType | _type | ) |
Add a type specifier.
[in] | _type | New type to append to this objects type definition. |
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protected |
Compute the scoped name of this object based on its parents.
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virtual |
Finialize the object.
Reimplemented in Actor, BulletLink, Collision, DARTCollision, DARTLink, DARTModel, Entity, Joint, Link, Model, ODECollision, ODELink, Road, SimbodyLink, BulletJoint, and ODEJoint.
BasePtr GetByName | ( | const std::string & | _name | ) |
Get by name.
[in] | _name | Get a child (or self) object by name |
BasePtr GetChild | ( | const std::string & | _name | ) |
Get a child by name.
[in] | _name | Name of the child. |
BasePtr GetChild | ( | unsigned int | _i | ) | const |
Get a child by index.
[in] | _i | Index of the child to retreive. |
unsigned int GetChildCount | ( | ) | const |
Get the number of children.
uint32_t GetId | ( | ) | const |
Return the ID of this entity.
This id is unique.
std::string GetName | ( | ) | const |
Return the name of the entity.
BasePtr GetParent | ( | ) | const |
Get the parent.
int GetParentId | ( | ) | const |
Return the ID of the parent.
bool GetSaveable | ( | ) | const |
Get whether the object should be "saved", when the user selects to save the world to xml.
std::string GetScopedName | ( | bool | _prependWorldName = false | ) | const |
Return the name of this entity with the model scope model1::...::modelN::entityName.
[in] | _prependWorldName | True to prended the returned string with the world name. The result will be world::model1::...::modelN::entityName. |
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unsigned int GetType | ( | ) | const |
Get the full type definition.
const WorldPtr & GetWorld | ( | ) | const |
bool HasType | ( | const EntityType & | _t | ) | const |
Returns true if this object's type definition has the given type.
[in] | _t | Type to check. |
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inlinevirtual |
Initialize the object.
Reimplemented in Actor, BallJoint< BulletJoint >, BallJoint< DARTJoint >, BallJoint< ODEJoint >, BallJoint< SimbodyJoint >, BoxShape, BulletBallJoint, BulletFixedJoint, BulletHeightmapShape, BulletHinge2Joint, BulletHingeJoint, BulletLink, BulletMeshShape, BulletPolylineShape, BulletScrewJoint, BulletSliderJoint, BulletUniversalJoint, Collision, CylinderShape, DARTBallJoint, DARTBoxShape, DARTCollision, DARTCylinderShape, DARTFixedJoint, DARTHeightmapShape, DARTHinge2Joint, DARTHingeJoint, DARTLink, DARTMeshShape, DARTModel, DARTPlaneShape, DARTPolylineShape, DARTSliderJoint, DARTSphereShape, DARTUniversalJoint, FixedJoint< BulletJoint >, FixedJoint< DARTJoint >, FixedJoint< ODEJoint >, FixedJoint< SimbodyJoint >, GearboxJoint< ODEJoint >, HeightmapShape, HingeJoint< BulletJoint >, HingeJoint< DARTJoint >, HingeJoint< ODEJoint >, HingeJoint< SimbodyJoint >, Joint, Light, Link, MapShape, MeshShape, Model, MultiRayShape, ODEGearboxJoint, ODEHeightmapShape, ODELink, ODEMeshShape, ODEPolylineShape, PlaneShape, PolylineShape, RayShape, Road, ScrewJoint< BulletJoint >, ScrewJoint< DARTJoint >, ScrewJoint< ODEJoint >, ScrewJoint< SimbodyJoint >, SimbodyHeightmapShape, SimbodyLink, SimbodyMeshShape, SimbodyModel, SimbodyPolylineShape, SphereShape, UniversalJoint< BulletJoint >, UniversalJoint< DARTJoint >, UniversalJoint< ODEJoint >, UniversalJoint< SimbodyJoint >, BulletJoint, DARTJoint, DARTScrewJoint, and Shape.
bool IsSelected | ( | ) | const |
True if the entity is selected by the user.
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virtual |
Load.
[in] | node | Pointer to an SDF parameters |
Reimplemented in BulletCollision, BulletLink, DARTLink, SimbodyCollision, SimbodyLink, Actor, BallJoint< BulletJoint >, BallJoint< DARTJoint >, BallJoint< ODEJoint >, BallJoint< SimbodyJoint >, BulletBallJoint, BulletFixedJoint, BulletHinge2Joint, BulletHingeJoint, BulletMeshShape, BulletPolylineShape, BulletScrewJoint, BulletSliderJoint, BulletUniversalJoint, Collision, DARTBallJoint, DARTCollision, DARTFixedJoint, DARTHinge2Joint, DARTHingeJoint, DARTMeshShape, DARTModel, DARTPolylineShape, DARTSliderJoint, DARTUniversalJoint, Entity, FixedJoint< BulletJoint >, FixedJoint< DARTJoint >, FixedJoint< ODEJoint >, FixedJoint< SimbodyJoint >, GearboxJoint< ODEJoint >, HeightmapShape, Hinge2Joint< BulletJoint >, Hinge2Joint< DARTJoint >, Hinge2Joint< ODEJoint >, Hinge2Joint< SimbodyJoint >, HingeJoint< BulletJoint >, HingeJoint< DARTJoint >, HingeJoint< ODEJoint >, HingeJoint< SimbodyJoint >, Joint, Link, MapShape, Model, ODECollision, ODEFixedJoint, ODEGearboxJoint, ODEHinge2Joint, ODEHingeJoint, ODELink, ODEMeshShape, ODEPolylineShape, ODEScrewJoint, ODESliderJoint, Road, ScrewJoint< BulletJoint >, ScrewJoint< DARTJoint >, ScrewJoint< ODEJoint >, ScrewJoint< SimbodyJoint >, SimbodyBallJoint, SimbodyFixedJoint, SimbodyHinge2Joint, SimbodyHingeJoint, SimbodyMeshShape, SimbodyModel, SimbodyPolylineShape, SimbodyScrewJoint, SimbodySliderJoint, SimbodyUniversalJoint, SliderJoint< BulletJoint >, SliderJoint< DARTJoint >, SliderJoint< ODEJoint >, SliderJoint< SimbodyJoint >, UniversalJoint< BulletJoint >, UniversalJoint< DARTJoint >, UniversalJoint< ODEJoint >, UniversalJoint< SimbodyJoint >, BulletJoint, DARTJoint, DARTScrewJoint, ODEJoint, and SimbodyJoint.
bool operator== | ( | const Base & | _ent | ) | const |
Returns true if the entities are the same.
Checks only the name.
[in] | _ent | Base object to compare with. |
void Print | ( | const std::string & | _prefix | ) |
Print this object to screen via gzmsg.
[in] | _prefix | Usually a set of spaces. |
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protectedvirtual |
void RemoveChild | ( | const std::string & | _name | ) |
Remove a child by name.
[in] | _name | Name of the child. |
void RemoveChild | ( | physics::BasePtr | _child | ) |
Remove a child by pointer.
[in] | _child | Pointer to the child. |
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void RemoveChildren | ( | ) |
Remove all children.
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virtual |
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virtual |
Calls recursive Reset on one of the Base::EntityType's.
[in] | _resetType | The type of reset operation |
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void SetParent | ( | BasePtr | _parent | ) |
Set the parent.
[in] | _parent | Parent object. |
void SetSaveable | ( | bool | _v | ) |
Set whether the object should be "saved", when the user selects to save the world to xml.
[in] | _v | Set to True if the object should be saved. |
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virtual |
Set whether this entity has been selected by the user through the gui.
[in] | _show | True to set this entity as selected. |
Reimplemented in Link.
void SetWorld | ( | const WorldPtr & | _newWorld | ) |
Set the world this object belongs to.
This will also set the world for all children.
[in] | _newWorld | The new World this object is part of. |
std::string TypeStr | ( | ) | const |
Get the string name for the entity type.
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protectedvirtual |
Unregister items in the introspection service.
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inlinevirtual |
Update the object.
Reimplemented in Actor, BulletRayShape, DARTMeshShape, DARTModel, DARTRayShape, Joint, Link, MapShape, MeshShape, Model, MultiRayShape, ODEMeshShape, ODEPolylineShape, ODERayShape, SimbodyRayShape, and RayShape.
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common::URI URI | ( | ) | const |
Return the common::URI of this entity.
The URI includes the world where the entity is contained and all the hierarchy of sub-entities that can compose this entity. E.g.: A link entity contains the name of the link and the model where the link is contained.
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Children of this entity.
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All the introspection items regsitered for this.
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protected |
Parent of this entity.
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protected |
The SDF values for this object.
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protected |
Pointer to the world.