ignition::gazebo::systems Namespace Reference

Namespace for all System plugins. Refer to the System class for more information about systems. More...

Namespaces
	multicopter_control

Classes
class	AirPressure
	An air pressure sensor that reports vertical position and velocity readings over ign transport. More...
class	Altimeter
	An altimeter sensor that reports vertical position and velocity readings over ign transport. More...
class	ApplyJointForce
	This system applies a force to the first axis of a specified joint. More...
class	Breadcrumbs
	A system for creating Breadcrumbs in the form of models that can get deployed/spawned at the location of the model to which this system is attached. Each breadcrumb is a complete sdf::Model. When deployed, the pose of the breadcrumb model is offset from the containing model by the pose specified in the <pose> element of the breadcrumb model. A name is generated for the breadcrumb by appending the current count of deployments to the name specified in the breadcrumb <model> element. The model specified in the <breadcrumb> parameter serves as a template for deploying multiple breadcrumbs of the same type. Including models from Fuel is accomplished by creating a <model> that includes the Fuel model using the tag. See the example in examples/worlds/breadcrumbs.sdf. More...
class	Buoyancy
	A system that simulates buoyancy of objects immersed in fluid. All SDF parameters are optional. This system must be attached to the world and this system will apply buoyancy to all links that have inertia and collision shapes. More...
class	CameraVideoRecorder
	Record video from a camera sensor The system takes in the following parameter: <topic> Name of topic for the video recorder service. If this is not specified, the topic defaults to: /world/<world_name/model/<model_name>/link/<link_name>/ sensor/<sensor_name>/record_video. More...
class	Contact
	Contact sensor system which manages all contact sensors in simulation. More...
class	DetachableJoint
	A system that initially attaches two models via a fixed joint and allows for the models to get detached during simulation via a topic. More...
class	DiffDrive
	Differential drive controller which can be attached to a model with any number of left and right wheels. More...
class	Imu
	This system manages all IMU sensors in simulation. Each IMU sensor eports vertical position, angular velocity and lienar acceleration readings over Ignition Transport. More...
class	JointController
	Joint controller which can be attached to a model with a reference to a single joint. Currently only the first axis of a joint is actuated. More...
class	JointPositionController
	Joint position controller which can be attached to a model with a reference to a single joint. More...
class	JointStatePublisher
	The JointStatePub system publishes state information for a model. The published message type is ignition::msgs::Model, and the publication topic is "/world/<world_name>/model/<model_name>/state". More...
class	LiftDrag
	The LiftDrag system computes lift and drag forces enabling simulation of aerodynamic robots. More...
class	LinearBatteryPlugin
	A plugin for simulating battery usage. More...
class	LogicalCamera
	A logical camera sensor that reports objects detected within its frustum readings over ign transport. More...
class	LogPlayback
	Log state playback. More...
class	LogRecord
	Log state recorder. More...
class	LogVideoRecorder
	System which recordings videos from log playback There are two ways to specify what entities in the log playback to follow and record videos for: 1) by entity name and 2) by region. See the following parameters: <entity> Name of entity to record. <region> Axis-aligned box where entities are at start of log <min> Min corner position of box region. <max> Max corner position of box region. <start_time> Sim time when recording should start <end_time> Sim time when recording should end <exit_on_finish> Exit ign-gazebo when log playback recording ends When recording is finished. An end string will be published to the /log_video_recorder/status topic and the videos are saved to a timestamped directory. More...
class	Magnetometer
	An magnetometer sensor that reports the magnetic field in its current location. More...
class	MulticopterMotorModel
	This system applies a thrust force to models with spinning propellers. See examples/worlds/quadcopter.sdf for a demonstration. More...
class	MulticopterVelocityControl
	This is a velocity controller for multicopters that allows control over the linear velocity and the yaw angular velocity of the vehicle. The velocities are expressed in the body frame of the vehicle. A vehicle with at least 4 rotors is required for the controller to function. More...
class	PerformerDetector
	A system system that publishes on a topic when a performer enters or leaves a specified region. More...
class	Physics
	Base class for a System. More...
class	PosePublisher
	Pose publisher system. Attach to an entity to publish the transform of its child entities in the form of ignition::msgs::Pose messages, or a single ignition::msgs::Pose_V message if "use_pose_vector_msg" is true. More...
class	SceneBroadcaster
	System which periodically publishes an ignition::msgs::Scene message with updated information. More...
class	Sensors
	TODO(louise) Have one system for all sensors, or one per sensor / sensor type? More...
class	SpeedLimiter
	Class to limit velocity, acceleration and jerk. https://github.com/ros-controls/ros_controllers/tree/melodic-devel/diff_drive_controller. More...
class	Thermal
	A thermal plugin that sets the temperature for the parent entity. More...
class	TouchPlugin
	Plugin which checks if a model has touched some specific target for a given time continuously and exclusively. After the touch is completed, the plugin is disabled. It can be re-enabled through an Ignition transport service. More...
class	TriggeredPublisher
	The triggered publisher system publishes a user specified message on an output topic in response to an input message that matches user specified criteria. More...
class	UserCommands
	This system provides an Ignition Transport interface to execute commands while simulation is running. More...
class	VelocityControl
	Linear and angular velocity controller which is directly set on a model. More...
class	WindEffects
	A system that simulates a simple wind model. The wind is described as a uniform worldwide model. So it is independent from model position for simple computations. Its components are computed separately: More...

Functions
template<typename PolicyT , typename ToFeatureList , typename MinimumFeatureList , template< typename, typename > class ToEntity, template< typename, typename > class MinimumEntity>
physics::EntityPtr< ToEntity< PolicyT, ToFeatureList > >	entityCast (Entity _entity, const physics::EntityPtr< MinimumEntity< PolicyT, MinimumFeatureList >> &_minimumEntity, std::unordered_map< Entity, physics::EntityPtr< ToEntity< PolicyT, ToFeatureList >>> &_castMap)
	Helper function to cast from an entity type with minimum features to an entity with a different set of features. When the entity is cast successfully, it is added to _castMap so that subsequent casts will use the entity from the map. More...

Detailed Description

Namespace for all System plugins. Refer to the System class for more information about systems.

Function Documentation

entityCast()

physics::EntityPtr<ToEntity<PolicyT, ToFeatureList> > ignition::gazebo::systems::entityCast	(	Entity	_entity,
		const physics::EntityPtr< MinimumEntity< PolicyT, MinimumFeatureList >> &	_minimumEntity,
		std::unordered_map< Entity, physics::EntityPtr< ToEntity< PolicyT, ToFeatureList >>> &	_castMap
	)

Helper function to cast from an entity type with minimum features to an entity with a different set of features. When the entity is cast successfully, it is added to _castMap so that subsequent casts will use the entity from the map.

Template Parameters

PolicyT	The feature policy, such as ignition::physics::FeaturePolicy3d.
ToFeatureList	The list of features of the resulting entity.
MinimumFeatureList	The minimum list of features.
ToEntity	Type of entities with ToFeatureList
MinimumEntity	Type of entities with MinimumFeatureList

Parameters

[in]	_entity	Entity ID.
[in]	_minimumEntity	Entity pointer with minimum features.
[in]	_castMap	Map to store entities that have already been cast.

References RequestFeatures< class >::From(), and std::make_pair().