Gazebo is a leading open source robotics simulator, that provides high fidelity physics, rendering, and sensor simulation. More...

Namespaces
	components
	Components represent data, such as position information. An Entity usually has one or more associated components.

	events
	Namespace for all events. Refer to the EventManager class for more information about events.

	gui

	IGNITION_GAZEBO_VERSION_NAMESPACE

	systems

	inspector

	logical_audio

	serializers
	A Serializer class is used to serialize and deserialize a component. It is passed in as the third template parameter to components::Component. Eg.

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

	traits

Classes
class	AlignTool
	Provides buttons for the align tool. More...

struct	Display
	Data used by the `DisplayData()` function to filter and sort the resources to be displayed. More...

class	EntityComponentManager
	The EntityComponentManager constructs, deletes, and returns components and entities. A component can be of any class which inherits from `components::BaseComponent`. More...

class	EntityContextMenu
	A context menu providing actions that can be invoked on an entity. More...

class	EntityTree
	Displays a tree view with all the entities in the world. More...

class	EventManager
	The EventManager is used to send/receive notifications of simulator events. More...

class	GridConfig

class	GuiRunner
	Responsible for running GUI systems as new states are received from the backend. More...

class	GuiSystem
	Base class for a GUI System. More...

class	IgnGazeboPlugin
	IgnGazebo QML Plugin that registers C++ class so that they are accessible from QML. More...

class	IgnRenderer
	Ign-rendering renderer. All ign-rendering calls should be performed inside this class as it makes sure that opengl calls in the underlying render engine do not interfere with QtQuick's opengl render operations. The main Render function will render to an offscreen texture and notify via signal and slots when it's ready to be displayed. More...

class	ISystemConfigure
	Interface for a system that implements optional configuration. More...

class	ISystemPostUpdate
	Interface for a system that uses the PostUpdate phase. More...

class	ISystemPreUpdate
	Interface for a system that uses the PreUpdate phase. More...

class	ISystemUpdate
	Interface for a system that uses the Update phase. More...

class	Link
	This class provides wrappers around entities and components which are more convenient and straight-forward to use than dealing with the `EntityComponentManager` directly. All the functions provided here are meant to be used with a link entity. More...

class	MarkerManager
	Creates, deletes, and maintains marker visuals. Only the Scene class should instantiate and use this class. More...

class	Model
	This class provides wrappers around entities and components which are more convenient and straight-forward to use than dealing with the `EntityComponentManager` directly. All the functions provided here are meant to be used with a model entity. More...

class	PathModel
	Provides a model by which the resource spawner qml plugin pulls and updates from. More...

class	PlaybackScrubber
	Provides buttons for adding a box, sphere, or cylinder to the scene. More...

class	RenderThread
	Rendering thread. More...

class	RenderUtil

class	RenderWindowItem
	A QQUickItem that manages the render window. More...

struct	Resource
	Resource used to update the ResourceModel. More...

class	ResourceModel
	Provides a model by which the resource spawner qml plugin pulls and updates from. More...

class	ResourceSpawner
	Provides interface for communicating to backend for generation of local models. More...

class	Scene3D
	Creates an ignition rendering scene and user camera. It is possible to orbit the camera around the scene with the mouse. Use other plugins to manage objects in the scene. More...

class	SceneManager
	Scene manager class for loading and managing objects in the scene. More...

class	SdfEntityCreator
	Provides convenient functions to spawn entities and load their plugins from SDF elements, to remove them, and to change their hierarchy. More...

class	Server
	The server instantiates and controls simulation. More...

class	ServerConfig
	Configuration parameters for a Server. An instance of this object can be used to construct a Server with a particular configuration. More...

class	Shapes
	Provides buttons for adding a box, sphere, or cylinder to the scene. More...

class	System
	Base class for a System. More...

class	SystemLoader
	Class for loading/unloading System plugins. More...

class	TapeMeasure
	Provides buttons for the tape measure tool. More...

class	TestFixture
	Helper class to write automated tests. It provides a convenient API to load a world file, step simulation and check entities and components. More...

class	TextureNode
	Texture node for displaying the render texture from ign-renderer. More...

class	TmpIface
	Temporary place to prototype transport interfaces while it's not clear where they will live. More...

class	TransformControl
	Provides buttons for translation, rotation, and scale. More...

class	TreeModel
	TODO. More...

struct	UpdateInfo
	Information passed to systems on the update callback. More...

class	VideoRecorder
	Provides buttons for starting and stopping video recording. More...

class	ViewAngle
	Provides buttons for viewing angles. More...

class	World
	This class provides wrappers around entities and components which are more convenient and straight-forward to use than dealing with the `EntityComponentManager` directly. All the functions provided here are meant to be used with a world entity. More...

Typedefs
using	ComponentId = int
	A unique identifier for a component instance. The uniqueness of a ComponentId is scoped to the component's type. More...

using	ComponentKey = std::pair< ComponentTypeId, ComponentId >
	A key that uniquely identifies, at the global scope, a component instance. More...

using	ComponentTypeId = uint64_t
	A unique identifier for a component type. A component type must be derived from `components::BaseComponent` and can contain plain data or something more complex like `gz::math::Pose3d`. More...

using	Entity = uint64_t
	An Entity identifies a single object in simulation such as a model, link, or light. At its core, an Entity is just an identifier. More...

using	EntityGraph = math::graph::DirectedGraph< Entity, bool >
	Type alias for the graph that holds entities. Each vertex is an entity, and the direction points from the parent to its children. All edges are positive booleans. More...

using	EntityQueryCallback = std::function< void(const UpdateInfo, EntityComponentManager &)>
	typedef for query callbacks More...

using	SystemPluginPtr = gz::plugin::SpecializedPluginPtr< System, ISystemConfigure, ISystemPreUpdate, ISystemUpdate, ISystemPostUpdate >

Enumerations
enum	AlignAxis { ALIGN_X = 0, ALIGN_Y = 1, ALIGN_Z = 2 }
	Enumeration of the axes to be aligned relative to. More...

enum	AlignState { HOVER = 0, RESET = 1, ALIGN = 2, NONE = 3 }
	Enumeration of the states within the Align Tool. More...

enum	ComponentState { NoChange = 0, PeriodicChange = 1, OneTimeChange = 2 }
	Possible states for a component. More...

Functions
void	addResourcePaths (const std::vector< std::string > &_paths={})
	Add resource paths based on latest environment variables. This will update the SDF and Ignition environment variables, and optionally add more paths to the list. More...

std::string	asFullPath (const std::string &_uri, const std::string &_filePath)
	Combine a URI and a file path into a full path. If the URI is already a full path or contains a scheme, it won't be modified. If the URI is a relative path, the file path will be prepended. More...

template<class Out >
Out	convert (const math::AxisAlignedBox &_in)
	Generic conversion from axis aligned box object to another type. More...

template<>
msgs::AxisAlignedBox	convert (const math::AxisAlignedBox &_in)
	Specialized conversion from a math axis aligned box object to an axis aligned box message. More...

template<class Out >
Out	convert (const math::Inertiald &_in)
	Generic conversion from a math inertial to another type. More...

template<>
msgs::Inertial	convert (const math::Inertiald &_in)
	Specialized conversion from a math inertial to an inertial message. More...

template<class Out >
Out	convert (const msgs::Actor &_in)
	Generic conversion from an actor message to another type. More...

template<>
sdf::Actor	convert (const msgs::Actor &_in)
	Specialized conversion from an actor message to an actor SDF object. More...

template<class Out >
Out	convert (const msgs::Atmosphere &_in)
	Generic conversion from an atmosphere message to another type. More...

template<>
sdf::Atmosphere	convert (const msgs::Atmosphere &_in)
	Specialized conversion from an atmosphere message to an atmosphere SDF object. More...

template<class Out >
Out	convert (const msgs::Axis &_in)
	Generic conversion from an axis message to another type. More...

template<>
sdf::JointAxis	convert (const msgs::Axis &_in)
	Specialized conversion from an axis message to a joint axis SDF object. More...

template<class Out >
Out	convert (const msgs::AxisAlignedBox &_in)
	Generic conversion from an axis aligned box message to another type. More...

template<>
math::AxisAlignedBox	convert (const msgs::AxisAlignedBox &_in)
	Specialized conversion from an math axis aligned box message to an axis aligned box object. More...

template<class Out >
Out	convert (const msgs::Collision &_in)
	Generic conversion from a collision message to another type. More...

template<>
sdf::Collision	convert (const msgs::Collision &_in)
	Specialized conversion from a collision message to a collision SDF object. More...

template<class Out >
Out	convert (const msgs::Geometry &_in)
	Generic conversion from a geometry message to another type. More...

template<>
sdf::Geometry	convert (const msgs::Geometry &_in)
	Specialized conversion from a geometry message to a geometry SDF object. More...

template<class Out >
Out	convert (const msgs::Inertial &_in)
	Generic conversion from an inertial message to another type. More...

template<>
math::Inertiald	convert (const msgs::Inertial &_in)
	Specialized conversion from an inertial message to an inertial math object. More...

template<class Out >
Out	convert (const msgs::Light &_in)
	Generic conversion from a light message to another type. More...

template<>
sdf::Light	convert (const msgs::Light &_in)
	Specialized conversion from a light message to a light SDF object. More...

template<class Out >
Out	convert (const msgs::Material &_in)
	Generic conversion from a material message to another type. More...

template<>
sdf::Material	convert (const msgs::Material &_in)
	Specialized conversion from a material message to a material SDF object. More...

template<class Out >
Out	convert (const msgs::Physics &_in)
	Generic conversion from a physics message to another type. More...

template<>
sdf::Physics	convert (const msgs::Physics &_in)
	Specialized conversion from a physics message to a physics SDF object. More...

template<class Out >
Out	convert (const msgs::Pose &_in)
	Generic conversion from a msgs Pose to another type. More...

template<>
math::Pose3d	convert (const msgs::Pose &_in)
	Specialized conversion for msgs Pose to math Pose. More...

template<class Out >
Out	convert (const msgs::Scene &_in)
	Generic conversion from a scene message to another type. More...

template<>
sdf::Scene	convert (const msgs::Scene &_in)
	Specialized conversion from a scene message to a scene SDF object. More...

template<class Out >
Out	convert (const msgs::Sensor &_in)
	Generic conversion from a sensor message to another type. More...

template<>
sdf::Sensor	convert (const msgs::Sensor &_in)
	Specialized conversion from a sensor message to a sensor SDF object. More...

template<class Out >
Out	convert (const msgs::SensorNoise &_in)
	Generic conversion from a sensor noise message to another type. More...

template<>
sdf::Noise	convert (const msgs::SensorNoise &_in)
	Specialized conversion from a sensor noise message to a noise SDF object. More...

template<class Out >
Out	convert (const msgs::Time &_in)
	Generic conversion from a time message to another type. More...

template<>
std::chrono::steady_clock::duration	convert (const msgs::Time &_in)
	Specialized conversion from a time message to a steady clock duration. More...

template<class Out >
Out	convert (const msgs::WorldStatistics &_in)
	Generic conversion from a world statistics message to another type. More...

template<>
UpdateInfo	convert (const msgs::WorldStatistics &_in)
	Specialized conversion from a world statistics message to an `gz::sim::UpdateInfo` object. More...

template<class Out >
Out	convert (const sdf::Actor &_in)
	Generic conversion from an SDF actor to another type. More...

template<>
msgs::Actor	convert (const sdf::Actor &_in)
	Specialized conversion from an SDF actor to an actor message. More...

template<class Out >
Out	convert (const sdf::Atmosphere &_in)
	Generic conversion from an SDF atmosphere to another type. More...

template<>
msgs::Atmosphere	convert (const sdf::Atmosphere &_in)
	Specialized conversion from an SDF atmosphere to an atmosphere message. More...

template<class Out >
Out	convert (const sdf::Collision &_in)
	Generic conversion from an SDF collision to another type. More...

template<>
msgs::Collision	convert (const sdf::Collision &_in)
	Specialized conversion from an SDF collision to a collision message. More...

template<class Out >
Out	convert (const sdf::Geometry &_in)
	Generic conversion from an SDF geometry to another type. More...

template<>
msgs::Geometry	convert (const sdf::Geometry &_in)
	Specialized conversion from an SDF geometry to a geometry message. More...

template<class Out >
Out	convert (const sdf::Gui &_in)
	Generic conversion from an SDF gui to another type. More...

template<>
msgs::GUI	convert (const sdf::Gui &_in)
	Specialized conversion from an SDF gui to a gui message. More...

template<class Out >
Out	convert (const sdf::JointAxis &_in)
	Generic conversion from an SDF joint axis to another type. More...

template<>
msgs::Axis	convert (const sdf::JointAxis &_in)
	Specialized conversion from an SDF joint axis to an axis message. More...

template<class Out >
Out	convert (const sdf::Light &_in)
	Generic conversion from an SDF light to another type. More...

template<>
msgs::Light	convert (const sdf::Light &_in)
	Specialized conversion from an SDF light to a light message. More...

template<class Out >
Out	convert (const sdf::Material &_in)
	Generic conversion from an SDF material to another type. More...

template<>
msgs::Material	convert (const sdf::Material &_in)
	Specialized conversion from an SDF material to a material message. More...

template<class Out >
Out	convert (const sdf::Physics &_in)
	Generic conversion from an SDF Physics to another type. More...

template<>
msgs::Physics	convert (const sdf::Physics &_in)
	Specialized conversion from an SDF physics to a physics message. More...

template<class Out >
Out	convert (const sdf::Scene &_in)
	Generic conversion from an SDF scene to another type. More...

template<>
msgs::Scene	convert (const sdf::Scene &_in)
	Specialized conversion from an SDF scene to a scene message. More...

template<class Out >
Out	convert (const sdf::Sensor &_in)
	Generic conversion from an SDF Sensor to another type. More...

template<>
msgs::Sensor	convert (const sdf::Sensor &_in)
	Specialized conversion from an SDF sensor to a sensor message. More...

template<class Out >
Out	convert (const std::chrono::steady_clock::duration &_in)
	Generic conversion from a steady clock duration to another type. More...

template<>
msgs::Time	convert (const std::chrono::steady_clock::duration &_in)
	Specialized conversion from a steady clock duration to a time message. More...

template<class Out >
Out	convert (const std::string &_in)
	Generic conversion from a string to another type. More...

template<>
msgs::Entity_Type	convert (const std::string &_in)
	Specialized conversion from a string to an Entity_Type msg. More...

template<class Out >
Out	convert (const UpdateInfo &_in)
	Generic conversion from update info to another type. More...

template<>
msgs::WorldStatistics	convert (const UpdateInfo &_in)
	Specialized conversion from update info to a world statistics message. More...

template<class ComponentType >
bool	enableComponent (EntityComponentManager &_ecm, Entity _entity, bool _enable=true)
	Helper function to "enable" a component (i.e. create it if it doesn't exist) or "disable" a component (i.e. remove it if it exists). More...

std::unordered_set< Entity >	entitiesFromScopedName (const std::string &_scopedName, const EntityComponentManager &_ecm, Entity _relativeTo=kNullEntity, const std::string &_delim="::")
	Helper function to get an entity given its scoped name. The scope may start at any level by default. For example, in this hierarchy: More...

Entity	entityFromMsg (const EntityComponentManager &_ecm, const msgs::Entity &_msg)
	Helper function to get an entity from an entity message. The returned entity is not guaranteed to exist. More...

ComponentTypeId	entityTypeId (const Entity &_entity, const EntityComponentManager &_ecm)
	Generally, each entity will be of some specific high-level type, such as World, Sensor, Collision, etc, and one type only. The entity type is usually marked by having some component that represents that type, such as `gz::sim::components::Visual`. More...

std::string	entityTypeStr (const Entity &_entity, const EntityComponentManager &_ecm)
	Generally, each entity will be of some specific high-level type, such as "world", "sensor", "collision", etc, and one type only. More...

std::list< ServerConfig::PluginInfo >	loadPluginInfo (bool _isPlayback=false)
	Load plugin information, following ordering. More...

std::list< ServerConfig::PluginInfo >	parsePluginsFromFile (const std::string &_fname)
	Parse plugins from XML configuration file. More...

std::list< ServerConfig::PluginInfo >	parsePluginsFromString (const std::string &_str)
	Parse plugins from XML configuration string. More...

std::string	removeParentScope (const std::string &_name, const std::string &_delim)
	Helper function to remove a parent scope from a given name. This removes the first name found before the delimiter. More...

std::vector< std::string >	resourcePaths ()
	Get resource paths based on latest environment variables. More...

std::string	scopedName (const Entity &_entity, const EntityComponentManager &_ecm, const std::string &_delim="/", bool _includePrefix=true)
	Helper function to generate scoped name for an entity. More...

void	set (msgs::SensorNoise *_msg, const sdf::Noise &_sdf)
	Helper function that sets a mutable msgs::SensorNoise object to the values contained in a sdf::Noise object. More...

void	set (msgs::Time *_msg, const std::chrono::steady_clock::duration &_in)
	Helper function that sets a mutable msgs::Time object to the values contained in a std::chrono::steady_clock::duration object. More...

void	set (msgs::WorldStatistics *_msg, const UpdateInfo &_in)
	Helper function that sets a mutable msgs::WorldStatistics object to the values contained in a gz::sim::UpdateInfo object. More...

gz::sim::Entity	topLevelModel (const Entity &_entity, const EntityComponentManager &_ecm)
	Get the top level model of an entity. More...

std::string	validTopic (const std::vector< std::string > &_topics)
	Helper function to generate a valid transport topic, given a list of topics ordered by preference. The generated topic will be, in this order: More...

Entity	worldEntity (const Entity &_entity, const EntityComponentManager &_ecm)
	Get the world to which the given entity belongs. More...

Entity	worldEntity (const EntityComponentManager &_ecm)
	Get the first world entity that's found. More...

math::Pose3d	worldPose (const Entity &_entity, const EntityComponentManager &_ecm)
	Helper function to compute world pose of an entity. More...

Variables
class IGNITION_GAZEBO_HIDDEN	EntityComponentManagerPrivate

class IGNITION_GAZEBO_HIDDEN	EventManagerPrivate

static const ComponentId	kComponentIdInvalid = -1
	Id that indicates an invalid component. More...

static const ComponentTypeId	kComponentTypeIdInvalid = UINT64_MAX
	Id that indicates an invalid component type. More...

const Entity	kNullEntity {0}
	Indicates a non-existant or invalid Entity. More...

const std::string	kRenderPluginPathEnv {"IGN_GAZEBO_RENDER_ENGINE_PATH"}
	Environment variable holding paths to custom rendering engine plugins. More...

const std::string	kResourcePathEnv {"IGN_GAZEBO_RESOURCE_PATH"}
	Environment variable holding resource paths. More...

const std::string	kSdfPathEnv {"SDF_PATH"}
	Environment variable used by SDFormat to find URIs inside `<include>` More...

const std::string	kServerConfigPathEnv {"IGN_GAZEBO_SERVER_CONFIG_PATH"}
	Environment variable holding server config paths. More...

class IGNITION_GAZEBO_HIDDEN	LinkPrivate

class IGNITION_GAZEBO_HIDDEN	ModelPrivate

class IGNITION_GAZEBO_HIDDEN	SystemLoaderPrivate

class IGNITION_GAZEBO_HIDDEN	TestFixturePrivate

class IGNITION_GAZEBO_HIDDEN	WorldPrivate

Detailed Description

Gazebo is a leading open source robotics simulator, that provides high fidelity physics, rendering, and sensor simulation.

Typedef Documentation

◆ ComponentId

using ComponentId = int

A unique identifier for a component instance. The uniqueness of a ComponentId is scoped to the component's type.

See also: ComponentKey.

◆ ComponentKey

using ComponentKey = std::pair<ComponentTypeId, ComponentId>

A key that uniquely identifies, at the global scope, a component instance.

◆ ComponentTypeId

using ComponentTypeId = uint64_t

A unique identifier for a component type. A component type must be derived from components::BaseComponent and can contain plain data or something more complex like gz::math::Pose3d.

◆ Entity

using Entity = uint64_t

An Entity identifies a single object in simulation such as a model, link, or light. At its core, an Entity is just an identifier.

An Entity usually has one or more associated Components. Components represent data, such as position information.

The set of Components assigned to an Entity also act as a key. Systems process Entities based on their key. For example, a physics system may process only entities that have pose and inertia components.

An Entity that needs to be identified and used by Systems should be created through the EntityComponentManager.

◆ EntityGraph

using EntityGraph = math::graph::DirectedGraph<Entity, bool>

Type alias for the graph that holds entities. Each vertex is an entity, and the direction points from the parent to its children. All edges are positive booleans.

◆ EntityQueryCallback

using EntityQueryCallback = std::function<void (const UpdateInfo, EntityComponentManager &)>

typedef for query callbacks

◆ SystemPluginPtr

using SystemPluginPtr = gz::plugin::SpecializedPluginPtr< System, ISystemConfigure, ISystemPreUpdate, ISystemUpdate, ISystemPostUpdate >

Enumeration Type Documentation

◆ AlignAxis

enum AlignAxis

strong

Enumeration of the axes to be aligned relative to.

Enumerator
ALIGN_X	Indicates an alignment relative to the x axis.
ALIGN_Y	Indicates an alignment relative to the y axis.
ALIGN_Z	Indicates an alignment relative to the z axis.

◆ AlignState

enum AlignState

strong

Enumeration of the states within the Align Tool.

Enumerator
HOVER	Indicates the user is currently hovering the mouse over an align button.
RESET	Indicates a reset of the currently placed nodes, only occurs on a hover exit if the align button has not been clicked.
ALIGN	Indicates the user has clicked the align button.
NONE	Indicates the user is currently not utilizing the align tool.

◆ ComponentState

enum ComponentState

strong

Possible states for a component.

Enumerator
NoChange	Component value has not changed.
PeriodicChange	Component value has changed, and is changing periodically. This indicates to systems that it is ok to drop a few samples.
OneTimeChange	Component value has suffered a one-time change. This indicates to systems that this change must be processed and can't be dropped.

Function Documentation

◆ addResourcePaths()

void ignition::gazebo::addResourcePaths ( const std::vector< std::string > & _paths = {} )

Add resource paths based on latest environment variables. This will update the SDF and Ignition environment variables, and optionally add more paths to the list.

Parameters

[in] _paths Optional paths to add.

◆ asFullPath()

std::string ignition::gazebo::asFullPath	(	const std::string &	_uri,
		const std::string &	_filePath
	)

Combine a URI and a file path into a full path. If the URI is already a full path or contains a scheme, it won't be modified. If the URI is a relative path, the file path will be prepended.

Parameters

[in]	_uri	URI, which can have a scheme, or be full or relative paths.
[in]	_filePath	The path to a file in disk.

Returns: The full path URI.

◆ convert() [1/64]

Out ignition::gazebo::convert ( const math::AxisAlignedBox & _in )

Generic conversion from axis aligned box object to another type.

Specialized conversion from a math axis aligned box object to an axis aligned box message.

Parameters

[in] _in Axis aligned box object.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [2/64]

msgs::AxisAlignedBox ignition::gazebo::convert ( const math::AxisAlignedBox & _in )

Specialized conversion from a math axis aligned box object to an axis aligned box message.

Parameters

[in] _in Axis aligned box message

Returns: Axis aligned box message.

Specialized conversion from a math axis aligned box object to an axis aligned box message.

Parameters

[in] _in Axis aligned box object.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [3/64]

Out ignition::gazebo::convert ( const math::Inertiald & _in )

Generic conversion from a math inertial to another type.

Specialized conversion from a math inertial to an inertial message.

Parameters

[in] _in Math inertial.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [4/64]

msgs::Inertial ignition::gazebo::convert ( const math::Inertiald & _in )

Specialized conversion from a math inertial to an inertial message.

Parameters

[in] _in Math inertial.

Returns: Inertial message.

Specialized conversion from a math inertial to an inertial message.

Parameters

[in] _in Math inertial.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [5/64]

Out ignition::gazebo::convert ( const msgs::Actor & _in )

Generic conversion from an actor message to another type.

Specialized conversion from an actor message to an actor SDF object.

Parameters

[in] _in Actor message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [6/64]

sdf::Actor ignition::gazebo::convert ( const msgs::Actor & _in )

Specialized conversion from an actor message to an actor SDF object.

Parameters

[in] _in Actor message.

Returns: Actor SDF object.

Specialized conversion from an actor message to an actor SDF object.

Parameters

[in] _in Actor message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [7/64]

Out ignition::gazebo::convert ( const msgs::Atmosphere & _in )

Generic conversion from an atmosphere message to another type.

Specialized conversion from an atmosphere message to an atmosphere SDF object.

Parameters

[in] _in Atmosphere message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [8/64]

sdf::Atmosphere ignition::gazebo::convert ( const msgs::Atmosphere & _in )

Specialized conversion from an atmosphere message to an atmosphere SDF object.

Parameters

[in] _in Atmosphere message.

Returns: SDF scene.

Specialized conversion from an atmosphere message to an atmosphere SDF object.

Parameters

[in] _in Atmosphere message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [9/64]

Out ignition::gazebo::convert ( const msgs::Axis & _in )

Generic conversion from an axis message to another type.

Specialized conversion from an axis message to a joint axis SDF object.

Parameters

[in] _in Axis message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [10/64]

sdf::JointAxis ignition::gazebo::convert ( const msgs::Axis & _in )

Specialized conversion from an axis message to a joint axis SDF object.

Parameters

[in] _in Axis message.

Returns: SDF joint axis.

Specialized conversion from an axis message to a joint axis SDF object.

Parameters

[in] _in Axis message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [11/64]

Out ignition::gazebo::convert ( const msgs::AxisAlignedBox & _in )

Generic conversion from an axis aligned box message to another type.

Specialized conversion from an math axis aligned box message to an axis aligned box object.

Parameters

[in] _in Axis aligned box message

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [12/64]

math::AxisAlignedBox ignition::gazebo::convert ( const msgs::AxisAlignedBox & _in )

Specialized conversion from an math axis aligned box message to an axis aligned box object.

Parameters

[in] _in Axis aligned box object

Returns: Axis aligned box object.

Specialized conversion from an math axis aligned box message to an axis aligned box object.

Parameters

[in] _in Axis aligned box message

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [13/64]

Out ignition::gazebo::convert ( const msgs::Collision & _in )

Generic conversion from a collision message to another type.

Specialized conversion from a collision message to a collision SDF object.

Parameters

[in] _in Collision message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [14/64]

sdf::Collision ignition::gazebo::convert ( const msgs::Collision & _in )

Specialized conversion from a collision message to a collision SDF object.

Parameters

[in] _in Collision message.

Returns: SDF collision.

Specialized conversion from a collision message to a collision SDF object.

Parameters

[in] _in Collision message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [15/64]

Out ignition::gazebo::convert ( const msgs::Geometry & _in )

Generic conversion from a geometry message to another type.

Specialized conversion from a geometry message to a geometry SDF object.

Parameters

[in] _in Geometry message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [16/64]

sdf::Geometry ignition::gazebo::convert ( const msgs::Geometry & _in )

Specialized conversion from a geometry message to a geometry SDF object.

Parameters

[in] _in Geometry message.

Returns: SDF geometry.

Specialized conversion from a geometry message to a geometry SDF object.

Parameters

[in] _in Geometry message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [17/64]

Out ignition::gazebo::convert ( const msgs::Inertial & _in )

Generic conversion from an inertial message to another type.

Specialized conversion from an inertial message to an inertial math object.

Parameters

[in] _in Inertial message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [18/64]

math::Inertiald ignition::gazebo::convert ( const msgs::Inertial & _in )

Specialized conversion from an inertial message to an inertial math object.

Parameters

[in] _in Inertial message.

Returns: math inertial.

Specialized conversion from an inertial message to an inertial math object.

Parameters

[in] _in Inertial message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [19/64]

Out ignition::gazebo::convert ( const msgs::Light & _in )

Generic conversion from a light message to another type.

Specialized conversion from a light message to a light SDF object.

Parameters

[in] _in Light message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [20/64]

sdf::Light ignition::gazebo::convert ( const msgs::Light & _in )

Specialized conversion from a light message to a light SDF object.

Parameters

[in] _in Light message.

Returns: Light SDF object.

Specialized conversion from a light message to a light SDF object.

Parameters

[in] _in Light message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [21/64]

Out ignition::gazebo::convert ( const msgs::Material & _in )

Generic conversion from a material message to another type.

Specialized conversion from a material message to a material SDF object.

Parameters

[in] _in Material message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [22/64]

sdf::Material ignition::gazebo::convert ( const msgs::Material & _in )

Specialized conversion from a material message to a material SDF object.

Parameters

[in] _in Material message.

Returns: SDF material.

Specialized conversion from a material message to a material SDF object.

Parameters

[in] _in Material message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [23/64]

Out ignition::gazebo::convert ( const msgs::Physics & _in )

Generic conversion from a physics message to another type.

Specialized conversion from a physics message to a physics SDF object.

Parameters

[in] _in Physics message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [24/64]

sdf::Physics ignition::gazebo::convert ( const msgs::Physics & _in )

Specialized conversion from a physics message to a physics SDF object.

Parameters

[in] _in Physics message.

Returns: SDF physics.

Specialized conversion from a physics message to a physics SDF object.

Parameters

[in] _in Physics message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [25/64]

Out ignition::gazebo::convert ( const msgs::Pose & _in )

Generic conversion from a msgs Pose to another type.

Specialized conversion for msgs Pose to math Pose.

Parameters

[in] _in msgs Pose

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [26/64]

math::Pose3d ignition::gazebo::convert ( const msgs::Pose & _in )

Specialized conversion for msgs Pose to math Pose.

Parameters

[in] _in msgs Pose

Returns: math Pose.

Specialized conversion for msgs Pose to math Pose.

Parameters

[in] _in msgs Pose

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [27/64]

Out ignition::gazebo::convert ( const msgs::Scene & _in )

Generic conversion from a scene message to another type.

Specialized conversion from a scene message to a scene SDF object.

Parameters

[in] _in Scene message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [28/64]

sdf::Scene ignition::gazebo::convert ( const msgs::Scene & _in )

Specialized conversion from a scene message to a scene SDF object.

Parameters

[in] _in Scene message.

Returns: SDF scene.

Specialized conversion from a scene message to a scene SDF object.

Parameters

[in] _in Scene message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [29/64]

Out ignition::gazebo::convert ( const msgs::Sensor & _in )

Generic conversion from a sensor message to another type.

Specialized conversion from a sensor message to a sensor SDF object.

Parameters

[in] _in Sensor message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [30/64]

sdf::Sensor ignition::gazebo::convert ( const msgs::Sensor & _in )

Specialized conversion from a sensor message to a sensor SDF object.

Parameters

[in] _in Sensor message.

Returns: SDF sensor.

Specialized conversion from a sensor message to a sensor SDF object.

Parameters

[in] _in Sensor message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [31/64]

Out ignition::gazebo::convert ( const msgs::SensorNoise & _in )

Generic conversion from a sensor noise message to another type.

Specialized conversion from a sensor noise message to a noise SDF object.

Parameters

[in] _in SensorNoise message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [32/64]

sdf::Noise ignition::gazebo::convert ( const msgs::SensorNoise & _in )

Specialized conversion from a sensor noise message to a noise SDF object.

Parameters

[in] _in Sensor noise message.

Returns: SDF noise.

Specialized conversion from a sensor noise message to a noise SDF object.

Parameters

[in] _in SensorNoise message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [33/64]

Out ignition::gazebo::convert ( const msgs::Time & _in )

Generic conversion from a time message to another type.

Specialized conversion from a time message to a steady clock duration.

Parameters

[in] _in Time message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [34/64]

std::chrono::steady_clock::duration ignition::gazebo::convert ( const msgs::Time & _in )

Specialized conversion from a time message to a steady clock duration.

Parameters

[in] _in Time message.

Returns: Steady clock duration.

Specialized conversion from a time message to a steady clock duration.

Parameters

[in] _in Time message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [35/64]

Out ignition::gazebo::convert ( const msgs::WorldStatistics & _in )

Generic conversion from a world statistics message to another type.

Specialized conversion from a world statistics message to an gz::sim::UpdateInfo object.

Parameters

[in] _in WorldStatistics message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [36/64]

UpdateInfo ignition::gazebo::convert ( const msgs::WorldStatistics & _in )

Specialized conversion from a world statistics message to an gz::sim::UpdateInfo object.

Parameters

[in] _in WorldStatistics message.

Returns: Update info.

Specialized conversion from a world statistics message to an gz::sim::UpdateInfo object.

Parameters

[in] _in WorldStatistics message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [37/64]

Out ignition::gazebo::convert ( const sdf::Actor & _in )

Generic conversion from an SDF actor to another type.

Specialized conversion from an SDF actor to an actor message.

Parameters

[in] _in SDF actor.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [38/64]

msgs::Actor ignition::gazebo::convert ( const sdf::Actor & _in )

Specialized conversion from an SDF actor to an actor message.

Parameters

[in] _in SDF actor.

Returns: Actor message.

Specialized conversion from an SDF actor to an actor message.

Parameters

[in] _in SDF actor.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [39/64]

Out ignition::gazebo::convert ( const sdf::Atmosphere & _in )

Generic conversion from an SDF atmosphere to another type.

Specialized conversion from an SDF atmosphere to an atmosphere message.

Parameters

[in] _in SDF atmosphere.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [40/64]

msgs::Atmosphere ignition::gazebo::convert ( const sdf::Atmosphere & _in )

Specialized conversion from an SDF atmosphere to an atmosphere message.

Parameters

[in] _in SDF atmosphere.

Returns: Atmosphere message.

Specialized conversion from an SDF atmosphere to an atmosphere message.

Parameters

[in] _in SDF atmosphere.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [41/64]

Out ignition::gazebo::convert ( const sdf::Collision & _in )

Generic conversion from an SDF collision to another type.

Specialized conversion from an SDF collision to a collision message.

Parameters

[in] _in SDF collision.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [42/64]

msgs::Collision ignition::gazebo::convert ( const sdf::Collision & _in )

Specialized conversion from an SDF collision to a collision message.

Parameters

[in] _in SDF collision.

Returns: Collision message.

Specialized conversion from an SDF collision to a collision message.

Parameters

[in] _in SDF collision.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [43/64]

Out ignition::gazebo::convert ( const sdf::Geometry & _in )

Generic conversion from an SDF geometry to another type.

Specialized conversion from an SDF geometry to a geometry message.

Parameters

[in] _in SDF geometry.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [44/64]

msgs::Geometry ignition::gazebo::convert ( const sdf::Geometry & _in )

Specialized conversion from an SDF geometry to a geometry message.

Parameters

[in] _in SDF geometry.

Returns: Geometry message.

Specialized conversion from an SDF geometry to a geometry message.

Parameters

[in] _in SDF geometry.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [45/64]

Out ignition::gazebo::convert ( const sdf::Gui & _in )

Generic conversion from an SDF gui to another type.

Specialized conversion from an SDF gui to a gui message.

Parameters

[in] _in SDF gui.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [46/64]

msgs::GUI ignition::gazebo::convert ( const sdf::Gui & _in )

Specialized conversion from an SDF gui to a gui message.

Parameters

[in] _in SDF gui.

Returns: Gui message.

Specialized conversion from an SDF gui to a gui message.

Parameters

[in] _in SDF gui.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [47/64]

Out ignition::gazebo::convert ( const sdf::JointAxis & _in )

Generic conversion from an SDF joint axis to another type.

Specialized conversion from an SDF joint axis to an axis message.

Parameters

[in] _in SDF joint axis.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [48/64]

msgs::Axis ignition::gazebo::convert ( const sdf::JointAxis & _in )

Specialized conversion from an SDF joint axis to an axis message.

Parameters

[in] _in SDF joint axis.

Returns: Axis message.

Specialized conversion from an SDF joint axis to an axis message.

Parameters

[in] _in SDF joint axis.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [49/64]

Out ignition::gazebo::convert ( const sdf::Light & _in )

Generic conversion from an SDF light to another type.

Specialized conversion from an SDF light to a light message.

Parameters

[in] _in SDF light.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [50/64]

msgs::Light ignition::gazebo::convert ( const sdf::Light & _in )

Specialized conversion from an SDF light to a light message.

Parameters

[in] _in SDF light.

Returns: Light message.

Specialized conversion from an SDF light to a light message.

Parameters

[in] _in SDF light.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [51/64]

Out ignition::gazebo::convert ( const sdf::Material & _in )

Generic conversion from an SDF material to another type.

Specialized conversion from an SDF material to a material message.

Parameters

[in] _in SDF material.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [52/64]

msgs::Material ignition::gazebo::convert ( const sdf::Material & _in )

Specialized conversion from an SDF material to a material message.

Parameters

[in] _in SDF material.

Returns: Material message.

Specialized conversion from an SDF material to a material message.

Parameters

[in] _in SDF material.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [53/64]

Out ignition::gazebo::convert ( const sdf::Physics & _in )

Generic conversion from an SDF Physics to another type.

Specialized conversion from an SDF physics to a physics message.

Parameters

[in] _in SDF Physics.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [54/64]

msgs::Physics ignition::gazebo::convert ( const sdf::Physics & _in )

Specialized conversion from an SDF physics to a physics message.

Parameters

[in] _in SDF physics.

Returns: Physics message.

Specialized conversion from an SDF physics to a physics message.

Parameters

[in] _in SDF Physics.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [55/64]

Out ignition::gazebo::convert ( const sdf::Scene & _in )

Generic conversion from an SDF scene to another type.

Specialized conversion from an SDF scene to a scene message.

Parameters

[in] _in SDF scene.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [56/64]

msgs::Scene ignition::gazebo::convert ( const sdf::Scene & _in )

Specialized conversion from an SDF scene to a scene message.

Parameters

[in] _in SDF scene.

Returns: Scene message.

Specialized conversion from an SDF scene to a scene message.

Parameters

[in] _in SDF scene.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [57/64]

Out ignition::gazebo::convert ( const sdf::Sensor & _in )

Generic conversion from an SDF Sensor to another type.

Specialized conversion from an SDF sensor to a sensor message.

Parameters

[in] _in SDF Sensor.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [58/64]

msgs::Sensor ignition::gazebo::convert ( const sdf::Sensor & _in )

Specialized conversion from an SDF sensor to a sensor message.

Parameters

[in] _in SDF sensor.

Returns: Sensor message.

Specialized conversion from an SDF sensor to a sensor message.

Parameters

[in] _in SDF Sensor.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [59/64]

Out ignition::gazebo::convert ( const std::chrono::steady_clock::duration & _in )

Generic conversion from a steady clock duration to another type.

Specialized conversion from a steady clock duration to a time message.

Parameters

[in] _in Steady clock duration.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [60/64]

msgs::Time ignition::gazebo::convert ( const std::chrono::steady_clock::duration & _in )

Specialized conversion from a steady clock duration to a time message.

Parameters

[in] _in Steady clock duration.

Returns: Ignition time message.

Specialized conversion from a steady clock duration to a time message.

Parameters

[in] _in Steady clock duration.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [61/64]

Out ignition::gazebo::convert ( const std::string & _in )

Generic conversion from a string to another type.

Specialized conversion from a string to an Entity_Type msg.

Parameters

[in] _in string.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [62/64]

msgs::Entity_Type ignition::gazebo::convert ( const std::string & _in )

Specialized conversion from a string to an Entity_Type msg.

Parameters

[in] _in string message.

Returns: Entity_Type.

Specialized conversion from a string to an Entity_Type msg.

Parameters

[in] _in string.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [63/64]

Out ignition::gazebo::convert ( const UpdateInfo & _in )

Generic conversion from update info to another type.

Specialized conversion from update info to a world statistics message.

Parameters

[in] _in Update info.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [64/64]

msgs::WorldStatistics ignition::gazebo::convert ( const UpdateInfo & _in )

Specialized conversion from update info to a world statistics message.

Parameters

[in] _in Update info.

Returns: World statistics message.

Specialized conversion from update info to a world statistics message.

Parameters

[in] _in Update info.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ enableComponent()

bool ignition::gazebo::enableComponent	(	EntityComponentManager &	_ecm,
		Entity	_entity,
		bool	_enable = `true`
	)

Helper function to "enable" a component (i.e. create it if it doesn't exist) or "disable" a component (i.e. remove it if it exists).

Parameters

[in]	_ecm	Mutable reference to the ECM
[in]	_entity	Entity whose component is being enabled
[in]	_enable	True to enable (create), false to disable (remove). Defaults to true.

Returns: True if a component was created or removed, false if nothing changed.

References EntityComponentManager::Component(), EntityComponentManager::CreateComponent(), exists(), and EntityComponentManager::RemoveComponent().

◆ entitiesFromScopedName()

std::unordered_set<Entity> ignition::gazebo::entitiesFromScopedName	(	const std::string &	_scopedName,
		const EntityComponentManager &	_ecm,
		Entity	_relativeTo = `kNullEntity`,
		const std::string &	_delim = `"::"`
	)

Helper function to get an entity given its scoped name. The scope may start at any level by default. For example, in this hierarchy:

world_name model_name link_name

All these names will return the link entity:

world_name::model_name::link_name
model_name::link_name
link_name

Parameters

[in]	_scopedName	Entity's scoped name.
[in]	_ecm	Immutable reference to ECM.
[in]	_relativeTo	Entity that the scoped name is relative to. The scoped name does not include the name of this entity. If not provided, the scoped name could be relative to any entity.
[in]	_delim	Delimiter between names, defaults to "::", it can't be empty.

Returns: All entities that match the scoped name and relative to requirements, or an empty set otherwise.

◆ entityFromMsg()

Entity ignition::gazebo::entityFromMsg	(	const EntityComponentManager &	_ecm,
		const msgs::Entity &	_msg
	)

Helper function to get an entity from an entity message. The returned entity is not guaranteed to exist.

The message is used as follows:

if id not null
  use id
else if name not null and type not null
  use name + type
else
  error
end

Parameters

[in]	_ecm	Entity component manager
[in]	_msg	Entity message

Returns: Entity ID, or kNullEntity if a matching entity couldn't be found.

◆ entityTypeId()

ComponentTypeId ignition::gazebo::entityTypeId	(	const Entity &	_entity,
		const EntityComponentManager &	_ecm
	)

Generally, each entity will be of some specific high-level type, such as World, Sensor, Collision, etc, and one type only. The entity type is usually marked by having some component that represents that type, such as gz::sim::components::Visual.

This function returns the type ID of the given entity's type, which can be checked against different types. For example, if the entity is a model, this will be true:

sim::components::Model::typeId == entityTypeId(entity, ecm)

In case the entity isn't of any known type, this will return gz::sim::kComponentTypeIdInvalid.

In case the entity has more than one type, only one of them will be returned. This is not standard usage.

Parameters

[in]	_entity	Entity to get the type for.
[in]	_ecm	Immutable reference to ECM.

Returns: ID of entity's type-defining components.

◆ entityTypeStr()

std::string ignition::gazebo::entityTypeStr	(	const Entity &	_entity,
		const EntityComponentManager &	_ecm
	)

Generally, each entity will be of some specific high-level type, such as "world", "sensor", "collision", etc, and one type only.

This function returns a lowercase string for each type. For example, "light", "actor", etc.

In case the entity isn't of any known type, this will return an empty string.

In case the entity has more than one type, only one of them will be returned. This is not standard usage.

Note that this is different from component type names.

Parameters

[in]	_entity	Entity to get the type for.
[in]	_ecm	Immutable reference to ECM.

Returns: ID of entity's type-defining components.

◆ loadPluginInfo()

std::list<ServerConfig::PluginInfo> ignition::gazebo::loadPluginInfo ( bool _isPlayback = false )

Load plugin information, following ordering.

This method is used when no plugins are found in an SDF file to load either a default or custom set of plugins.

The following order is used to resolve:

Config file located at IGN_GAZEBO_SERVER_CONFIG_PATH environment variable.
- If IGN_GAZEBO_SERVER_CONFIG_PATH is set but empty, no plugins are loaded.
File at ${IGN_HOMEDIR}/.ignition/gazebo/server.config
File at ${IGN_DATA_INSTALL_DIR}/server.config

If any of the above files exist but are empty, resolution stops and the plugin list will be empty.

Parameters

[in] _isPlayback Is the server in playback mode. If so, fallback to playback_server.config.

Returns: A list of plugins to load, based on above ordering

◆ parsePluginsFromFile()

std::list<ServerConfig::PluginInfo> ignition::gazebo::parsePluginsFromFile ( const std::string & _fname )

Parse plugins from XML configuration file.

Parameters

[in] _fname Absolute path to the configuration file to parse.

Returns: A list of all of the plugins found in the configuration file

◆ parsePluginsFromString()

std::list<ServerConfig::PluginInfo> ignition::gazebo::parsePluginsFromString ( const std::string & _str )

Parse plugins from XML configuration string.

Parameters

[in] _str XML configuration content to parse

Returns: A list of all of the plugins found in the configuration string.

◆ removeParentScope()

std::string ignition::gazebo::removeParentScope	(	const std::string &	_name,
		const std::string &	_delim
	)

Helper function to remove a parent scope from a given name. This removes the first name found before the delimiter.

Parameters

[in]	_name	Input name possibly generated by scopedName.
[in]	_delim	Delimiter between names.

Returns: A new string with the parent scope removed.

◆ resourcePaths()

std::vector<std::string> ignition::gazebo::resourcePaths ( )

Get resource paths based on latest environment variables.

Returns: All paths in the IGN_GAZEBO_RESOURCE_PATH variable.

◆ scopedName()

std::string ignition::gazebo::scopedName	(	const Entity &	_entity,
		const EntityComponentManager &	_ecm,
		const std::string &	_delim = `"/"`,
		bool	_includePrefix = `true`
	)

Helper function to generate scoped name for an entity.

Parameters

[in]	_entity	Entity to get the name for.
[in]	_ecm	Immutable reference to ECM.
[in]	_delim	Delimiter to put between names, defaults to "/".
[in]	_includePrefix	True to include the type prefix before the entity name

◆ set() [1/3]

void ignition::gazebo::set	(	msgs::SensorNoise *	_msg,
		const sdf::Noise &	_sdf
	)

Helper function that sets a mutable msgs::SensorNoise object to the values contained in a sdf::Noise object.

Parameters

[out]	_msg	SensorNoise message to set.
[in]	_sdf	SDF Noise object.

◆ set() [2/3]

void ignition::gazebo::set	(	msgs::Time *	_msg,
		const std::chrono::steady_clock::duration &	_in
	)

Helper function that sets a mutable msgs::Time object to the values contained in a std::chrono::steady_clock::duration object.

Parameters

[out]	_msg	Time message to set.
[in]	_in	Chrono duration object.

◆ set() [3/3]

void ignition::gazebo::set	(	msgs::WorldStatistics *	_msg,
		const UpdateInfo &	_in
	)

Helper function that sets a mutable msgs::WorldStatistics object to the values contained in a gz::sim::UpdateInfo object.

Parameters

[out]	_msg	WorldStatistics message to set.
[in]	_in	UpdateInfo object.

◆ topLevelModel()

gz::sim::Entity ignition::gazebo::topLevelModel	(	const Entity &	_entity,
		const EntityComponentManager &	_ecm
	)

Get the top level model of an entity.

Parameters

[in]	_entity	Input entity
[in]	_ecm	Constant reference to ECM.

Returns: Entity of top level model. If _entity has no top level model, kNullEntity is returned.

◆ validTopic()

std::string ignition::gazebo::validTopic ( const std::vector< std::string > & _topics )

Helper function to generate a valid transport topic, given a list of topics ordered by preference. The generated topic will be, in this order:

The first topic unchanged, if valid.
A valid version of the first topic, if possible.
The second topic unchanged, if valid.
A valid version of the second topic, if possible.
...
If no valid topics could be generated, return an empty string.

Parameters

[in] _topics Topics ordered by preference.

◆ worldEntity() [1/2]

Entity ignition::gazebo::worldEntity	(	const Entity &	_entity,
		const EntityComponentManager &	_ecm
	)

Get the world to which the given entity belongs.

Parameters

[in]	_entity	Entity to get the world for.
[in]	_ecm	Immutable reference to ECM.

Returns: World entity ID.

◆ worldEntity() [2/2]

Entity ignition::gazebo::worldEntity ( const EntityComponentManager & _ecm )

Get the first world entity that's found.

Parameters

[in] _ecm Immutable reference to ECM.

Returns: World entity ID.

◆ worldPose()

math::Pose3d ignition::gazebo::worldPose	(	const Entity &	_entity,
		const EntityComponentManager &	_ecm
	)

Helper function to compute world pose of an entity.

Parameters

[in]	_entity	Entity to get the world pose for
[in]	_ecm	Immutable reference to ECM.

Returns: World pose of entity

Variable Documentation

◆ EntityComponentManagerPrivate

class IGNITION_GAZEBO_HIDDEN EntityComponentManagerPrivate

◆ EventManagerPrivate

class IGNITION_GAZEBO_HIDDEN EventManagerPrivate

◆ kComponentIdInvalid

const ComponentId kComponentIdInvalid = -1

static

Id that indicates an invalid component.

◆ kComponentTypeIdInvalid

const ComponentTypeId kComponentTypeIdInvalid = UINT64_MAX

static

Id that indicates an invalid component type.

◆ kNullEntity

const Entity kNullEntity {0}

Indicates a non-existant or invalid Entity.

Referenced by EntityFeatureMap< PhysicsEntityT, PolicyT, RequiredFeatureList, OptionalFeatureLists >::EntityCast(), and EntityFeatureMap< PhysicsEntityT, PolicyT, RequiredFeatureList, OptionalFeatureLists >::Get().

◆ kRenderPluginPathEnv

const std::string kRenderPluginPathEnv {"IGN_GAZEBO_RENDER_ENGINE_PATH"}

Environment variable holding paths to custom rendering engine plugins.

◆ kResourcePathEnv

const std::string kResourcePathEnv {"IGN_GAZEBO_RESOURCE_PATH"}

Environment variable holding resource paths.

◆ kSdfPathEnv

const std::string kSdfPathEnv {"SDF_PATH"}

Environment variable used by SDFormat to find URIs inside <include>

◆ kServerConfigPathEnv

const std::string kServerConfigPathEnv {"IGN_GAZEBO_SERVER_CONFIG_PATH"}

Environment variable holding server config paths.

◆ LinkPrivate

class IGNITION_GAZEBO_HIDDEN LinkPrivate

◆ ModelPrivate

class IGNITION_GAZEBO_HIDDEN ModelPrivate

◆ SystemLoaderPrivate

class IGNITION_GAZEBO_HIDDEN SystemLoaderPrivate

◆ TestFixturePrivate

class IGNITION_GAZEBO_HIDDEN TestFixturePrivate

◆ WorldPrivate

class IGNITION_GAZEBO_HIDDEN WorldPrivate

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ ComponentId

◆ ComponentKey

◆ ComponentTypeId

◆ Entity

◆ EntityGraph

◆ EntityQueryCallback

◆ SystemPluginPtr

Enumeration Type Documentation

◆ AlignAxis

◆ AlignState

◆ ComponentState

Function Documentation

◆ addResourcePaths()

◆ asFullPath()

◆ convert() [1/64]

◆ convert() [2/64]

◆ convert() [3/64]

◆ convert() [4/64]

◆ convert() [5/64]

◆ convert() [6/64]

◆ convert() [7/64]

◆ convert() [8/64]

◆ convert() [9/64]

◆ convert() [10/64]

◆ convert() [11/64]

◆ convert() [12/64]

◆ convert() [13/64]

◆ convert() [14/64]

◆ convert() [15/64]

◆ convert() [16/64]

◆ convert() [17/64]

◆ convert() [18/64]

◆ convert() [19/64]

◆ convert() [20/64]

◆ convert() [21/64]

◆ convert() [22/64]

◆ convert() [23/64]

◆ convert() [24/64]

◆ convert() [25/64]

◆ convert() [26/64]

◆ convert() [27/64]

◆ convert() [28/64]

◆ convert() [29/64]

◆ convert() [30/64]

◆ convert() [31/64]

◆ convert() [32/64]

◆ convert() [33/64]

◆ convert() [34/64]

◆ convert() [35/64]

◆ convert() [36/64]

◆ convert() [37/64]

◆ convert() [38/64]

◆ convert() [39/64]

◆ convert() [40/64]

◆ convert() [41/64]

◆ convert() [42/64]

◆ convert() [43/64]

◆ convert() [44/64]

◆ convert() [45/64]

◆ convert() [46/64]

◆ convert() [47/64]

◆ convert() [48/64]

◆ convert() [49/64]

◆ convert() [50/64]

◆ convert() [51/64]

◆ convert() [52/64]

◆ convert() [53/64]

◆ convert() [54/64]

◆ convert() [55/64]

◆ convert() [56/64]

◆ convert() [57/64]

◆ convert() [58/64]