LinkState Class Reference

Store state information of a physics::Link object. More...

#include <physics/physics.hh>

Inherits State.

Public Member Functions

 LinkState ()
 Default constructor. More...
 
 LinkState (const LinkPtr _link, const common::Time &_realTime, const common::Time &_simTime, const uint64_t _iterations)
 Constructor. More...
 
 LinkState (const LinkPtr _link)
 Constructor. More...
 
 LinkState (const sdf::ElementPtr _sdf)
 Constructor. More...
 
virtual ~LinkState ()
 Destructor. More...
 
const ignition::math::Pose3d & Acceleration () const
 Get the link acceleration. More...
 
void FillSDF (sdf::ElementPtr _sdf)
 Populate a state SDF element with data from the object. More...
 
const math::Pose GetAcceleration () const GAZEBO_DEPRECATED(8.0)
 Get the link acceleration. More...
 
CollisionState GetCollisionState (unsigned int _index) const
 Get a collision state. More...
 
CollisionState GetCollisionState (const std::string &_collisionName) const
 Get a link state by link name. More...
 
unsigned int GetCollisionStateCount () const
 Get the number of link states. More...
 
const std::vector< CollisionState > & GetCollisionStates () const
 Get the collision states. More...
 
uint64_t GetIterations () const
 Get the iterations when this state was generated. More...
 
std::string GetName () const
 Get the name associated with this State. More...
 
const math::Pose GetPose () const GAZEBO_DEPRECATED(8.0)
 Get the link pose. More...
 
common::Time GetRealTime () const
 Get the real time when this state was generated. More...
 
common::Time GetSimTime () const
 Get the sim time when this state was generated. More...
 
const math::Pose GetVelocity () const GAZEBO_DEPRECATED(8.0)
 Get the link velocity. More...
 
common::Time GetWallTime () const
 Get the wall time when this state was generated. More...
 
const math::Pose GetWrench () const GAZEBO_DEPRECATED(8.0)
 Get the force applied to the Link. More...
 
bool IsZero () const
 Return true if the values in the state are zero. More...
 
void Load (const LinkPtr _link, const common::Time &_realTime, const common::Time &_simTime, const uint64_t _iterations)
 Load a LinkState from a Link pointer. More...
 
virtual void Load (const sdf::ElementPtr _elem)
 Load state from SDF element. More...
 
LinkState operator+ (const LinkState &_state) const
 Addition operator. More...
 
State operator- (const State &_state) const
 Subtraction operator. More...
 
LinkState operator- (const LinkState &_state) const
 Subtraction operator. More...
 
LinkStateoperator= (const LinkState &_state)
 Assignment operator. More...
 
const ignition::math::Pose3d & Pose () const
 Get the link pose. More...
 
virtual void SetIterations (const uint64_t _iterations)
 Set the simulation iterations when this state was generated. More...
 
void SetName (const std::string &_name)
 Set the name associated with this State. More...
 
virtual void SetRealTime (const common::Time &_time)
 Set the real time when this state was generated. More...
 
virtual void SetSimTime (const common::Time &_time)
 Set the sim time when this state was generated. More...
 
virtual void SetWallTime (const common::Time &_time)
 Set the wall time when this state was generated. More...
 
const ignition::math::Pose3d & Velocity () const
 Get the link velocity. More...
 
const ignition::math::Pose3d & Wrench () const
 Get the force and torque applied to the Link. More...
 

Protected Attributes

uint64_t iterations = 0
 The number of simulation iterations when this state was generated. More...
 
std::string name
 Name associated with this State. More...
 
common::Time realTime
 
common::Time simTime
 
common::Time wallTime
 Times for the state data. More...
 

Friends

std::ostream & operator<< (std::ostream &_out, const gazebo::physics::LinkState &_state)
 Stream insertion operator. More...
 

Detailed Description

Store state information of a physics::Link object.

This class captures the entire state of a Link at one specific time during a simulation run.

State of a Link includes the state of itself all its child Collision entities.

Constructor & Destructor Documentation

LinkState ( )

Default constructor.

LinkState ( const LinkPtr  _link,
const common::Time _realTime,
const common::Time _simTime,
const uint64_t  _iterations 
)

Constructor.

Build a LinkState from an existing Link.

Parameters
[in]_modelPointer to the Link from which to gather state info.
[in]_realTimeReal time stamp.
[in]_simTimeSim time stamp
[in]_iterationsSimulation iterations.
LinkState ( const LinkPtr  _link)
explicit

Constructor.

Build a LinkState from an existing Link.

Parameters
[in]_modelPointer to the Link from which to gather state info.
LinkState ( const sdf::ElementPtr  _sdf)
explicit

Constructor.

Build a LinkState from SDF data

Parameters
[in]_sdfSDF data to load a link state from.
virtual ~LinkState ( )
virtual

Destructor.

Member Function Documentation

const ignition::math::Pose3d& Acceleration ( ) const

Get the link acceleration.

Returns
The acceleration represented as a ignition::math::Pose3d.
void FillSDF ( sdf::ElementPtr  _sdf)

Populate a state SDF element with data from the object.

Parameters
[out]_sdfSDF element to populate.
const math::Pose GetAcceleration ( ) const

Get the link acceleration.

Returns
The acceleration represented as a math::Pose.
Deprecated:
See function that returns ign-math.
CollisionState GetCollisionState ( unsigned int  _index) const

Get a collision state.

Get a Collision State based on an index, where index is in the range of 0...LinkState::GetCollisionStateCount.

Parameters
[in]_indexIndex of the CollisionState.
Returns
State of the Collision.
Exceptions
common::ExceptionWhen _index is invalid.
CollisionState GetCollisionState ( const std::string &  _collisionName) const

Get a link state by link name.

Searches through all CollisionStates. Returns the CollisionState with the matching name, if any.

Parameters
[in]_collisionNameName of the CollisionState
Returns
State of the Collision.
Exceptions
common::ExceptionWhen _collisionName is invalid
unsigned int GetCollisionStateCount ( ) const

Get the number of link states.

This returns the number of Collisions recorded.

Returns
Number of CollisionState recorded.
const std::vector<CollisionState>& GetCollisionStates ( ) const

Get the collision states.

Returns
A vector of collision states.
uint64_t GetIterations ( ) const
inherited

Get the iterations when this state was generated.

Returns
Iterations when the data was recorded
std::string GetName ( ) const
inherited

Get the name associated with this State.

Returns
Name associated with this state information. Typically a name of an Entity.
const math::Pose GetPose ( ) const

Get the link pose.

Returns
The math::Pose of the Link.
Deprecated:
See function that returns ign-math.
common::Time GetRealTime ( ) const
inherited

Get the real time when this state was generated.

Returns
Clock time since simulation was stated.
common::Time GetSimTime ( ) const
inherited

Get the sim time when this state was generated.

Returns
Simulation time when the data was recorded.
const math::Pose GetVelocity ( ) const

Get the link velocity.

Returns
The velocity represented as an math::Pose.
Deprecated:
See function that returns ign-math.
common::Time GetWallTime ( ) const
inherited

Get the wall time when this state was generated.

Returns
The absolute clock time when the State data was recorded.
const math::Pose GetWrench ( ) const

Get the force applied to the Link.

Returns
Magnitude of the force.
Deprecated:
See function that returns ign-math.
bool IsZero ( ) const

Return true if the values in the state are zero.

Returns
True if the values in the state are zero.
void Load ( const LinkPtr  _link,
const common::Time _realTime,
const common::Time _simTime,
const uint64_t  _iterations 
)

Load a LinkState from a Link pointer.

Build a LinkState from an existing Link.

Parameters
[in]_modelPointer to the Link from which to gather state info.
[in]_realTimeReal time stamp.
[in]_simTimeSim time stamp.
[in]_iterationsSimulation iterations.
virtual void Load ( const sdf::ElementPtr  _elem)
virtual

Load state from SDF element.

Load LinkState information from stored data in and SDF::Element.

Parameters
[in]_elemPointer to the SDF::Element containing state info.

Reimplemented from State.

LinkState operator+ ( const LinkState _state) const

Addition operator.

Parameters
[in]_ptA state to add.
Returns
The resulting state.
State operator- ( const State _state) const
inherited

Subtraction operator.

Parameters
[in]_ptA state to substract.
Returns
The resulting state.
LinkState operator- ( const LinkState _state) const

Subtraction operator.

Parameters
[in]_ptA state to substract.
Returns
The resulting state.
LinkState& operator= ( const LinkState _state)

Assignment operator.

Parameters
[in]_stateState value
Returns
this
const ignition::math::Pose3d& Pose ( ) const

Get the link pose.

Returns
The ignition::math::Pose3d of the Link.
virtual void SetIterations ( const uint64_t  _iterations)
virtual

Set the simulation iterations when this state was generated.

Parameters
[in]_iterationsSimulation iterations when the data was recorded.

Reimplemented from State.

void SetName ( const std::string &  _name)
inherited

Set the name associated with this State.

Parameters
[in]_nameName associated with this state information. Typically the name of an Entity.
virtual void SetRealTime ( const common::Time _time)
virtual

Set the real time when this state was generated.

Parameters
[in]_timeClock time since simulation was stated.

Reimplemented from State.

virtual void SetSimTime ( const common::Time _time)
virtual

Set the sim time when this state was generated.

Parameters
[in]_timeSimulation time when the data was recorded.

Reimplemented from State.

virtual void SetWallTime ( const common::Time _time)
virtual

Set the wall time when this state was generated.

Parameters
[in]_timeThe absolute clock time when the State data was recorded.

Reimplemented from State.

const ignition::math::Pose3d& Velocity ( ) const

Get the link velocity.

Returns
The velocity represented as a ignition::math::Pose3d.
const ignition::math::Pose3d& Wrench ( ) const

Get the force and torque applied to the Link.

Returns
The wrench represented as an ignition::math::Pose3d.

Friends And Related Function Documentation

std::ostream& operator<< ( std::ostream &  _out,
const gazebo::physics::LinkState _state 
)
friend

Stream insertion operator.

Parameters
[in]_outoutput stream
[in]_stateLink state to output
Returns
the stream

Disabling this for efficiency.

Disabling this for efficiency.

Member Data Documentation

uint64_t iterations = 0
protectedinherited

The number of simulation iterations when this state was generated.

std::string name
protectedinherited

Name associated with this State.

common::Time realTime
protectedinherited
common::Time simTime
protectedinherited
common::Time wallTime
protectedinherited

Times for the state data.


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