Namespaces
namespace	plugins
	Namespace for all plugins.

Classes
class	Application
	A Gazebo GUI application loads a QML engine and provides an API to load plugins and configuration files. The application supports either running a single main window or several plugins as standalone dialogs. More...

class	Dialog
	Gui plugin. More...

class	DragDropModel
	Customized item model so that we can pass along an URI query as MIME information during a drag-drop. More...

class	MainWindow
	The main window class creates a QQuickWindow and acts as an interface which provides properties and functions which can be called from Main.qml. More...

class	PlotData
	Plot Data container to hold value and registered charts Can be a Field or a PlotComponent Used by PlottingInterface and Gazebo Plotting. More...

class	PlottingInterface
	Plotting Interface Responsible for plotting transport msgs-fields Used by TransportPlotting Plugin & GazeboPlotting Plugin Accepts dragged items from TopicViewer Plugin & ComponentInspector Plugin. More...

class	Plugin
	Base class for Gazebo GUI plugins. More...

class	SearchModel
	Customize the proxy model to display search results. More...

class	Topic
	Plotting Topic to handle published topics & their registered fields. More...

class	Transport
	Handle transport topics subscribing for one object (Chart) More...

struct	WindowConfig
	Holds configurations related to a MainWindow. More...

class	WorldControlEventListener
	Helper class for testing listening to events emitted by the WorldControl plugin. This is used for testing the event behavior of the WorldControl plugin. More...

Enumerations
enum	DataRole { DISPLAY_NAME = Qt::UserRole + 100 , URI_QUERY , TYPE , TO_EXPAND }
	Data roles. More...

enum class	ExitAction { CLOSE_GUI , SHUTDOWN_SERVER }
	The action executed when GUI is closed without prompt. More...

enum	FileType { CSVFile , PDFFile }
	File types. More...

enum class	NumberType { NONE , DOUBLE , INT , UINT }
	Number types. More...

enum class	StringType { NONE , LINE , PLAIN_TEXT }
	String types. More...

enum class	WindowType : int { kMainWindow = 0 , kDialog = 1 }
	Type of window which the application will display. More...

Functions
Application *	App ()
	Get current running application, this is a cast of qGuiApp.

QColor	convert (const math::Color &_color)
	Return the equivalent Qt color.

QPointF	convert (const math::Vector2d &_pt)
	Return the equivalent QPointF.

QVector3D	convert (const math::Vector3d &_vec)
	Return the equivalent Qt vector 3d.

math::Color	convert (const QColor &_color)
	Return the equivalent Gazebo color.

common::KeyEvent	convert (const QKeyEvent &_e)
	Return the equivalent Gazebo key event.

common::MouseEvent	convert (const QMouseEvent &_e)
	Return the equivalent Gazebo mouse event.

math::Vector2d	convert (const QPointF &_pt)
	Return the equivalent Gazebo vector.

math::Vector3d	convert (const QVector3D &_vec)
	Return the equivalent Gazebo vector 3d.

common::MouseEvent	convert (const QWheelEvent &_e)
	Return the equivalent Gazebo mouse event.

template<class T >
T	findFirstByProperty (const QList< T > _list, const char *_key, QVariant _value)
	Returns the first element on a QList which matches the given property.

std::string	getInstallPrefix ()
	getInstallPrefix return the install prefix of the library i.e. CMAKE_INSTALL_PREFIX unless the library has been moved

std::string	getPluginInstallDir ()
	getPluginInstallDir return the install directory of the plugins

std::string	humanReadable (const std::string &_key)
	Create a human readable key, capitalizing the first letter and removing characters like "_".

const QString	qmlQrcImportPath ()
	Import path for gz-gui QML modules added to the Qt resource system. This helper function returns the QRC resource path where custom Gazebo QML modules can be imported from. To import a Gazebo QML module, add this path to the QML engine's import path list before attempting to load a QML file that imports Gazebo QML modules.

void	rangeFromKey (const std::string &_key, double &_min, double &_max)
	Returns the range for a given key. For example, the key "transparency" returns min == 0, max == 1.

std::string	renderEngineBackendApiName ()
	Just like renderEngineName(), but valid entries are:

std::string	renderEngineName ()
	The main window's "renderEngine" property may be filled with a string of the render engine gui name. This information can be used by plugins to set the GUI render engine This helper function provides a handy access to the render engine GUI name.

StringType	stringTypeFromKey (const std::string &_key)
	Returns the string type for a given key. For example, the key "innerxml" has a PLAIN_TEXT type while "name" is a LINE.

std::string	uniqueFilePath (const std::string &_pathAndName, const std::string &_extension)
	Generates a path for a file which doesn't collide with existing files, by appending numbers to it (i.e. (0), (1), ...)

std::string	unitFromKey (const std::string &_key, const std::string &_type="")
	Returns the unit for a given key. For example, the key "mass" returns "kg".

QStringList	worldNames ()
	The main window's "worldNames" property may be filled with a list of the names of all worlds currently loaded. This information can be used by plugins to choose which world to work with. This helper function provides a handy access to the world names list.

Enumeration Type Documentation

◆ DataRole

enum DataRole

Data roles.

Enumerator
DISPLAY_NAME	Text which is displayed for the user.
URI_QUERY	URI including detailed query. This is the information carried during a drag-drop operation.
TYPE	Data type name, such as "Double" or "Bool", or "model", "link". Used to specialize display according to type.
TO_EXPAND	Flag indicating whether an item should be expanded or not.

◆ ExitAction

enum class ExitAction

strong

The action executed when GUI is closed without prompt.

Enumerator
CLOSE_GUI	Close GUI and leave server running.
SHUTDOWN_SERVER	Close GUI and shutdown server.

◆ FileType

enum FileType

File types.

Enumerator
CSVFile	Comma separated value (CSV)
PDFFile	Portable document format (PDF)

◆ NumberType

enum class NumberType

strong

Number types.

Enumerator
NONE	Undefined type.
DOUBLE	Double.
INT	Integer.
UINT	Unsigned integer.

◆ StringType

enum class StringType

strong

String types.

Enumerator
NONE	Undefined type.
LINE	Use line for short strings which usually fit in a single line.
PLAIN_TEXT	Use text for longer strings which span multiple lines.

◆ WindowType

enum class WindowType : int

strong

Type of window which the application will display.

Enumerator
kMainWindow	A main window, which may contain top-level menus and multiple plugins.
kDialog	One independent dialog per plugin. Also useful to open a startup dialog before the main window.

Function Documentation

◆ App()

Application * App ( )

Get current running application, this is a cast of qGuiApp.

Returns: Pointer to running application, or nullptr if none is running.

◆ convert() [1/9]

QColor convert ( const math::Color & _color )

Return the equivalent Qt color.

Parameters

[in] _color Gazebo color to convert

Returns: Qt color value

◆ convert() [2/9]

QPointF convert ( const math::Vector2d & _pt )

Return the equivalent QPointF.

Parameters

[in] _pt Gazebo vector to convert.

Returns: QPointF.

◆ convert() [3/9]

QVector3D convert ( const math::Vector3d & _vec )

Return the equivalent Qt vector 3d.

Parameters

[in] _vec Gazebo vector 3d to convert.

Returns: Qt vector 3d value.

◆ convert() [4/9]

math::Color convert ( const QColor & _color )

Return the equivalent Gazebo color.

Parameters

[in] _color Qt color to convert

Returns: Gazebo color value

◆ convert() [5/9]

common::KeyEvent convert ( const QKeyEvent & _e )

Return the equivalent Gazebo key event.

Parameters

[in] _e Qt key event

Returns: Gazebo key event

◆ convert() [6/9]

common::MouseEvent convert ( const QMouseEvent & _e )

Return the equivalent Gazebo mouse event.

Note that there isn't a 1-1 mapping between these types, so fields such as common::MouseEvent::PressPos need to be set afterwards.

Parameters

[in] _e Qt mouse event

Returns: Gazebo mouse event

◆ convert() [7/9]

math::Vector2d convert ( const QPointF & _pt )

Return the equivalent Gazebo vector.

Parameters

[in] _pt QPointF to convert

Returns: Gazebo Vector2d.

◆ convert() [8/9]

math::Vector3d convert ( const QVector3D & _vec )

Return the equivalent Gazebo vector 3d.

Parameters

[in] _vec Qt vector 3d to convert.

Returns: Gazebo vector 3d value

◆ convert() [9/9]

common::MouseEvent convert ( const QWheelEvent & _e )

Return the equivalent Gazebo mouse event.

Note that there isn't a 1-1 mapping between these types.

Parameters

[in] _e Qt wheel event

Returns: Gazebo mouse event

◆ findFirstByProperty()

template<class T >

T findFirstByProperty	(	const QList< T >	_list,
		const char *	_key,
		QVariant	_value
	)

Returns the first element on a QList which matches the given property.

Parameters

[in]	_list	The list to search through.
[in]	_key	The property key value.
[in]	_value	The property value.

Returns: The first matching element.

◆ getInstallPrefix()

std::string getInstallPrefix ( )

getInstallPrefix return the install prefix of the library i.e. CMAKE_INSTALL_PREFIX unless the library has been moved

◆ getPluginInstallDir()

std::string getPluginInstallDir ( )

getPluginInstallDir return the install directory of the plugins

◆ humanReadable()

std::string humanReadable ( const std::string & _key )

Create a human readable key, capitalizing the first letter and removing characters like "_".

Parameters

[in] _key Non-human-readable key.

Returns: Human-readable key.

◆ qmlQrcImportPath()

const QString qmlQrcImportPath ( )

Import path for gz-gui QML modules added to the Qt resource system. This helper function returns the QRC resource path where custom Gazebo QML modules can be imported from. To import a Gazebo QML module, add this path to the QML engine's import path list before attempting to load a QML file that imports Gazebo QML modules.

Returns: Resousrce path prefix as a string

◆ rangeFromKey()

void rangeFromKey	(	const std::string &	_key,
		double &	_min,
		double &	_max
	)

Returns the range for a given key. For example, the key "transparency" returns min == 0, max == 1.

Parameters

[in]	_key	The key.
[out]	_min	The minimum value.
[out]	_max	The maximum value.

◆ renderEngineBackendApiName()

std::string renderEngineBackendApiName ( )

Just like renderEngineName(), but valid entries are:

opengl (default)
metal (Apple only)
vulkan
Returns
Name of API backend used on the GUI, as stored in the MainWindow's "renderEngineBackendApiName" property.

◆ renderEngineName()

std::string renderEngineName ( )

The main window's "renderEngine" property may be filled with a string of the render engine gui name. This information can be used by plugins to set the GUI render engine This helper function provides a handy access to the render engine GUI name.

Returns: Name of render engine used on the GUI, as stored in the MainWindow's "renderEngine" property.

◆ stringTypeFromKey()

StringType stringTypeFromKey ( const std::string & _key )

Returns the string type for a given key. For example, the key "innerxml" has a PLAIN_TEXT type while "name" is a LINE.

Parameters

[in] _key The key.

Returns: The string type.

◆ uniqueFilePath()

std::string uniqueFilePath	(	const std::string &	_pathAndName,
		const std::string &	_extension
	)

Generates a path for a file which doesn't collide with existing files, by appending numbers to it (i.e. (0), (1), ...)

Parameters

[in]	_pathAndName	Full absolute path and file name up to the file extension.
[in]	_extension	File extension, such as "pdf".

Returns: Full path, with name and extension, which doesn't collide with existing files

◆ unitFromKey()

std::string unitFromKey	(	const std::string &	_key,
		const std::string &	_type = `""`
	)

Returns the unit for a given key. For example, the key "mass" returns "kg".

Parameters

[in]	_key	The key.
[in]	_type	In case the key may have more than one type, the type must be given too. For example, a prismatic joint will have different units from a revolute joint.

Returns: The unit.

◆ worldNames()

QStringList worldNames ( )

The main window's "worldNames" property may be filled with a list of the names of all worlds currently loaded. This information can be used by plugins to choose which world to work with. This helper function provides a handy access to the world names list.

Returns: List of world names, as stored in the MainWindow's "worldNames" property.

Gazebo Gui

API Reference

Namespaces

Classes

Enumerations

Functions

Enumeration Type Documentation

◆ DataRole

◆ ExitAction

◆ FileType

◆ NumberType

◆ StringType

◆ WindowType

Function Documentation

◆ App()

◆ convert() [1/9]

◆ convert() [2/9]

◆ convert() [3/9]

◆ convert() [4/9]

◆ convert() [5/9]

◆ convert() [6/9]

◆ convert() [7/9]

◆ convert() [8/9]

◆ convert() [9/9]

◆ findFirstByProperty()

◆ getInstallPrefix()

◆ getPluginInstallDir()

◆ humanReadable()

◆ qmlQrcImportPath()

◆ rangeFromKey()

◆ renderEngineBackendApiName()

◆ renderEngineName()

◆ stringTypeFromKey()

◆ uniqueFilePath()

◆ unitFromKey()

◆ worldNames()