Base Class Reference

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. More...
 
virtual ~Base ()
 Destructor. More...
 
void AddChild (BasePtr _child)
 Add a child to this entity. More...
 
void AddType (EntityType _type)
 Add a type specifier. More...
 
virtual void Fini ()
 Finialize the object. More...
 
BasePtr GetByName (const std::string &_name)
 Get by name. More...
 
BasePtr GetChild (unsigned int _i) const
 Get a child by index. More...
 
BasePtr GetChild (const std::string &_name)
 Get a child by name. More...
 
unsigned int GetChildCount () const
 Get the number of children. More...
 
uint32_t GetId () const
 Return the ID of this entity. More...
 
std::string GetName () const
 Return the name of the entity. More...
 
BasePtr GetParent () const
 Get the parent. More...
 
int GetParentId () const
 Return the ID of the parent. More...
 
bool GetSaveable () const
 Get whether the object should be "saved", when the user selects to save the world to xml. More...
 
std::string GetScopedName (bool _prependWorldName=false) const
 Return the name of this entity with the model scope model1::...::modelN::entityName. More...
 
virtual const sdf::ElementPtr GetSDF ()
 Get the SDF values for the object. More...
 
unsigned int GetType () const
 Get the full type definition. More...
 
const WorldPtrGetWorld () const
 Get the World this object is in. More...
 
bool HasType (const EntityType &_t) const
 Returns true if this object's type definition has the given type. More...
 
virtual void Init ()
 Initialize the object. More...
 
bool IsSelected () const
 True if the entity is selected by the user. More...
 
virtual void Load (sdf::ElementPtr _sdf)
 Load. More...
 
bool operator== (const Base &_ent) const
 Returns true if the entities are the same. More...
 
void Print (const std::string &_prefix)
 Print this object to screen via gzmsg. More...
 
virtual void RemoveChild (unsigned int _id)
 Remove a child from this entity. More...
 
void RemoveChild (const std::string &_name)
 Remove a child by name. More...
 
void RemoveChild (physics::BasePtr _child)
 Remove a child by pointer. More...
 
void RemoveChildren ()
 Remove all children. More...
 
virtual void Reset ()
 Reset the object. More...
 
virtual void Reset (Base::EntityType _resetType)
 Calls recursive Reset on one of the Base::EntityType's. More...
 
virtual void SetName (const std::string &_name)
 Set the name of the entity. More...
 
void SetParent (BasePtr _parent)
 Set the parent. More...
 
void SetSaveable (bool _v)
 Set whether the object should be "saved", when the user selects to save the world to xml. More...
 
virtual bool SetSelected (bool _show)
 Set whether this entity has been selected by the user through the gui. More...
 
void SetWorld (const WorldPtr &_newWorld)
 Set the world this object belongs to. More...
 
std::string TypeStr () const
 Get the string name for the entity type. More...
 
virtual void Update ()
 Update the object. More...
 
virtual void UpdateParameters (sdf::ElementPtr _sdf)
 Update the parameters using new sdf values. More...
 
common::URI URI () const
 Return the common::URI of this entity. More...
 

Protected Member Functions

void ComputeScopedName ()
 Compute the scoped name of this object based on its parents. More...
 
virtual void RegisterIntrospectionItems ()
 Register items in the introspection service. More...
 
virtual void UnregisterIntrospectionItems ()
 Unregister items in the introspection service. More...
 

Protected Attributes

Base_V children
 Children of this entity. More...
 
std::vector< common::URIintrospectionItems
 All the introspection items regsitered for this. More...
 
BasePtr parent
 Parent of this entity. More...
 
sdf::ElementPtr sdf
 The SDF values for this object. More...
 
WorldPtr world
 Pointer to the world. More...
 

Detailed Description

Base class for most physics classes.

Member Enumeration Documentation

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.

Constructor & Destructor Documentation

Base ( BasePtr  _parent)
explicit

Constructor.

Parameters
[in]_parentParent of this object
virtual ~Base ( )
virtual

Destructor.

Member Function Documentation

void AddChild ( BasePtr  _child)

Add a child to this entity.

Parameters
[in]_childChild entity.

Referenced by Base::Update().

void AddType ( EntityType  _type)

Add a type specifier.

Parameters
[in]_typeNew type to append to this objects type definition.

Referenced by Base::Update().

void ComputeScopedName ( )
protected

Compute the scoped name of this object based on its parents.

See also
Base::GetScopedName

Referenced by Base::Update().

virtual void Fini ( )
virtual
BasePtr GetByName ( const std::string &  _name)

Get by name.

Parameters
[in]_nameGet a child (or self) object by name
Returns
A pointer to the object, NULL if not found

Referenced by Base::Update().

BasePtr GetChild ( unsigned int  _i) const

Get a child by index.

Parameters
[in]_iIndex of the child to retreive.
Returns
A pointer to the object, NULL if the index is invalid.

Referenced by Base::Update().

BasePtr GetChild ( const std::string &  _name)

Get a child by name.

Parameters
[in]_nameName of the child.
Returns
A pointer to the object, NULL if not found
unsigned int GetChildCount ( ) const

Get the number of children.

Returns
The number of children.

Referenced by Base::Update().

uint32_t GetId ( ) const

Return the ID of this entity.

This id is unique.

Returns
Integer ID.

Referenced by Base::Update().

std::string GetName ( ) const

Return the name of the entity.

Returns
Name of the entity.

Referenced by Base::Update().

BasePtr GetParent ( ) const

Get the parent.

Returns
Pointer to the parent entity.

Referenced by Base::Update().

int GetParentId ( ) const

Return the ID of the parent.

Returns
Integer ID.

Referenced by Base::Update().

bool GetSaveable ( ) const

Get whether the object should be "saved", when the user selects to save the world to xml.

Returns
True if the object is saveable.

Referenced by Base::Update().

std::string GetScopedName ( bool  _prependWorldName = false) const

Return the name of this entity with the model scope model1::...::modelN::entityName.

Parameters
[in]_prependWorldNameTrue to prended the returned string with the world name. The result will be world::model1::...::modelN::entityName.
Returns
The scoped name.

Referenced by Base::Update().

virtual const sdf::ElementPtr GetSDF ( )
virtual

Get the SDF values for the object.

Returns
The SDF values for the object.

Reimplemented in Actor, and Model.

Referenced by Base::Update().

unsigned int GetType ( ) const

Get the full type definition.

Returns
The full type definition.

Referenced by Base::Update().

const WorldPtr& GetWorld ( ) const

Get the World this object is in.

Returns
The World this object is part of.

Referenced by Base::Update().

bool HasType ( const EntityType _t) const

Returns true if this object's type definition has the given type.

Parameters
[in]_tType to check.
Returns
True if this object's type definition has the.

Referenced by Base::Update().

bool IsSelected ( ) const

True if the entity is selected by the user.

Returns
True if the entity is selected.

Referenced by Base::Update().

virtual void Load ( sdf::ElementPtr  _sdf)
virtual

Load.

Parameters
[in]nodePointer to an SDF parameters

Reimplemented in Joint, Actor, Link, Model, Entity, SimbodySliderJoint, BallJoint< ODEJoint >, BallJoint< DARTJoint >, BallJoint< SimbodyJoint >, BallJoint< BulletJoint >, UniversalJoint< ODEJoint >, UniversalJoint< DARTJoint >, UniversalJoint< SimbodyJoint >, UniversalJoint< BulletJoint >, MapShape, GearboxJoint< ODEJoint >, Hinge2Joint< ODEJoint >, Hinge2Joint< DARTJoint >, Hinge2Joint< SimbodyJoint >, Hinge2Joint< BulletJoint >, HeightmapShape, ODEJoint, BulletScrewJoint, HingeJoint< ODEJoint >, HingeJoint< DARTJoint >, HingeJoint< SimbodyJoint >, HingeJoint< BulletJoint >, BulletBallJoint, BulletCollision, Collision, Road, ScrewJoint< ODEJoint >, ScrewJoint< DARTJoint >, ScrewJoint< SimbodyJoint >, ScrewJoint< BulletJoint >, BulletHinge2Joint, DARTJoint, DARTMeshShape, SliderJoint< ODEJoint >, SliderJoint< DARTJoint >, SliderJoint< SimbodyJoint >, SliderJoint< BulletJoint >, BulletJoint, DARTModel, ODECollision, ODEHinge2Joint, ODEHingeJoint, SimbodyCollision, SimbodyFixedJoint, FixedJoint< ODEJoint >, FixedJoint< DARTJoint >, FixedJoint< SimbodyJoint >, FixedJoint< BulletJoint >, BulletUniversalJoint, DARTCollision, DARTLink, ODESliderJoint, SimbodyUniversalJoint, BulletFixedJoint, BulletHingeJoint, BulletSliderJoint, ODEGearboxJoint, SimbodyHinge2Joint, SimbodyHingeJoint, SimbodyLink, SimbodyScrewJoint, BulletLink, ODEFixedJoint, SimbodyJoint, DARTFixedJoint, DARTHinge2Joint, DARTHingeJoint, DARTScrewJoint, ODELink, DARTPolylineShape, DARTUniversalJoint, ODEMeshShape, ODEScrewJoint, SimbodyBallJoint, SimbodyMeshShape, BulletMeshShape, BulletPolylineShape, DARTBallJoint, DARTSliderJoint, ODEPolylineShape, SimbodyModel, and SimbodyPolylineShape.

bool operator== ( const Base _ent) const

Returns true if the entities are the same.

Checks only the name.

Parameters
[in]_entBase object to compare with.
Returns
True if the entities are the same.

Referenced by Base::Update().

void Print ( const std::string &  _prefix)

Print this object to screen via gzmsg.

Parameters
[in]_prefixUsually a set of spaces.

Referenced by Base::Update().

virtual void RegisterIntrospectionItems ( )
protectedvirtual

Register items in the introspection service.

Reimplemented in Link, Joint, and Model.

Referenced by Base::Update().

virtual void RemoveChild ( unsigned int  _id)
virtual

Remove a child from this entity.

Parameters
[in]_idID of the child to remove.

Referenced by Base::Update().

void RemoveChild ( const std::string &  _name)

Remove a child by name.

Parameters
[in]_nameName of the child.
void RemoveChild ( physics::BasePtr  _child)

Remove a child by pointer.

Parameters
[in]_childPointer to the child.
void RemoveChildren ( )

Remove all children.

Referenced by Base::Update().

virtual void Reset ( )
virtual

Reset the object.

Reimplemented in Joint, Model, Link, Entity, ODEJoint, DARTJoint, BulletJoint, and SimbodyJoint.

Referenced by Base::Init().

virtual void Reset ( Base::EntityType  _resetType)
virtual

Calls recursive Reset on one of the Base::EntityType's.

Parameters
[in]_resetTypeThe type of reset operation
virtual void SetName ( const std::string &  _name)
virtual

Set the name of the entity.

Parameters
[in]_nameNew name.

Reimplemented in Entity.

Referenced by Base::Update().

void SetParent ( BasePtr  _parent)

Set the parent.

Parameters
[in]_parentParent object.

Referenced by Base::Update().

void SetSaveable ( bool  _v)

Set whether the object should be "saved", when the user selects to save the world to xml.

Parameters
[in]_vSet to True if the object should be saved.

Referenced by Base::Update().

virtual bool SetSelected ( bool  _show)
virtual

Set whether this entity has been selected by the user through the gui.

Parameters
[in]_showTrue to set this entity as selected.

Reimplemented in Link.

Referenced by Base::Update().

void SetWorld ( const WorldPtr _newWorld)

Set the world this object belongs to.

This will also set the world for all children.

Parameters
[in]_newWorldThe new World this object is part of.

Referenced by Base::Update().

std::string TypeStr ( ) const

Get the string name for the entity type.

Returns
The string name for this entity.

Referenced by Base::Update().

virtual void UnregisterIntrospectionItems ( )
protectedvirtual

Unregister items in the introspection service.

Referenced by Base::Update().

virtual void UpdateParameters ( sdf::ElementPtr  _sdf)
virtual

Update the parameters using new sdf values.

Parameters
[in]_sdfUpdate the object's parameters based on SDF values.

Reimplemented in Joint, Actor, Link, Model, Entity, and Collision.

Referenced by Base::Update().

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.

Returns
The URI of this entity.

Referenced by Base::Update().

Member Data Documentation

Base_V children
protected

Children of this entity.

std::vector<common::URI> introspectionItems
protected

All the introspection items regsitered for this.

BasePtr parent
protected

Parent of this entity.

sdf::ElementPtr sdf
protected

The SDF values for this object.

WorldPtr world
protected

Pointer to the world.


The documentation for this class was generated from the following file: