Gazebo Gazebo

API Reference

6.16.0

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 actor entity. More...

#include <ignition/gazebo/Actor.hh>

Public Member Functions

 Actor (gazebo::Entity _entity=kNullEntity)
 Constructor. More...
 
std::optional< std::stringAnimationName (const EntityComponentManager &_ecm) const
 Get the name of animation used by the actor. More...
 
std::optional< std::chrono::steady_clock::duration > AnimationTime (const EntityComponentManager &_ecm) const
 Get the time of animation for this actor. More...
 
gazebo::Entity Entity () const
 Get the entity which this Actor is related to. More...
 
std::optional< std::stringName (const EntityComponentManager &_ecm) const
 Get the actor's unscoped name. More...
 
std::optional< math::Pose3dPose (const EntityComponentManager &_ecm) const
 Get the pose of the actor. If the actor has a trajectory, this will only return the origin pose of the trajectory and not the actual world pose of the actor. More...
 
void ResetEntity (gazebo::Entity _newEntity)
 Reset Entity to a new one. More...
 
void SetAnimationName (EntityComponentManager &_ecm, const std::string &_name)
 Set the name of animation to use for this actor. More...
 
void SetAnimationTime (EntityComponentManager &_ecm, const std::chrono::steady_clock::duration &_time)
 Set the time of animation for this actor. More...
 
void SetTrajectoryPose (EntityComponentManager &_ecm, const math::Pose3d &_pose)
 Set the trajectory pose of the actor. There are two ways that the actor can follow a trajectory: 1) SDF script, 2) manually setting trajectory pose. This function enables option 2). Manually setting the trajectory pose will override the scripted trajectory specified in SDF. More...
 
std::optional< math::Pose3dTrajectoryPose (const EntityComponentManager &_ecm) const
 Get the trajectory pose of the actor. There are two ways that the actor can follow a trajectory: 1) SDF script, 2) manually setting trajectory pose. This function retrieves 2) the manual trajectory pose set by the user. The Trajectory pose is given relative to the trajectory pose origin returned by Pose(). More...
 
bool Valid (const EntityComponentManager &_ecm) const
 Check whether this actor correctly refers to an entity that has a components::Actor. More...
 
std::optional< math::Pose3dWorldPose (const EntityComponentManager &_ecm) const
 Get the world pose of the actor. This returns the current world pose of the actor computed by gazebo. The world pose is the combination of the actor's pose and its trajectory pose. The currently trajectory pose is either manually set via SetTrajectoryPose or interpolated from waypoints in the SDF script based on the current time. More...
 

Detailed Description

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 actor entity.

For example, given an actor's entity, find the value of its name component, one could use the entity-component manager (ecm) directly as follows:

std::string name = ecm.Component<components::Name>(entity)->Data();

Using this class however, the same information can be obtained with a simpler function call:

Actor actor(entity); std::string name = actor.Name(ecm);

Constructor & Destructor Documentation

◆ Actor()

Actor ( gazebo::Entity  _entity = kNullEntity)
explicit

Constructor.

Parameters
[in]_entityActor entity

Member Function Documentation

◆ AnimationName()

std::optional<std::string> AnimationName ( const EntityComponentManager _ecm) const

Get the name of animation used by the actor.

Parameters
[in]_ecmEntity-component manager.
Returns
Animation name

◆ AnimationTime()

std::optional<std::chrono::steady_clock::duration> AnimationTime ( const EntityComponentManager _ecm) const

Get the time of animation for this actor.

Parameters
[in]_ecmEntity-component manager.
Returns
Animation time

◆ Entity()

Get the entity which this Actor is related to.

Returns
Actor entity.

◆ Name()

std::optional<std::string> Name ( const EntityComponentManager _ecm) const

Get the actor's unscoped name.

Parameters
[in]_ecmEntity-component manager.
Returns
Actor's name or nullopt if the entity does not have a components::Name component

◆ Pose()

std::optional<math::Pose3d> Pose ( const EntityComponentManager _ecm) const

Get the pose of the actor. If the actor has a trajectory, this will only return the origin pose of the trajectory and not the actual world pose of the actor.

Parameters
[in]_ecmEntity-component manager.
Returns
Pose of the actor or nullopt if the entity does not have a components::Pose component.
See also
WorldPose

◆ ResetEntity()

void ResetEntity ( gazebo::Entity  _newEntity)

Reset Entity to a new one.

Parameters
[in]_newEntityNew actor entity.

◆ SetAnimationName()

void SetAnimationName ( EntityComponentManager _ecm,
const std::string _name 
)

Set the name of animation to use for this actor.

Parameters
[in]_ecmEntity Component manager.
[in]_nameAnimation name

◆ SetAnimationTime()

void SetAnimationTime ( EntityComponentManager _ecm,
const std::chrono::steady_clock::duration &  _time 
)

Set the time of animation for this actor.

Parameters
[in]_ecmEntity Component manager.
[in]_timeAnimation time

◆ SetTrajectoryPose()

void SetTrajectoryPose ( EntityComponentManager _ecm,
const math::Pose3d _pose 
)

Set the trajectory pose of the actor. There are two ways that the actor can follow a trajectory: 1) SDF script, 2) manually setting trajectory pose. This function enables option 2). Manually setting the trajectory pose will override the scripted trajectory specified in SDF.

Parameters
[in]_ecmEntity Component manager.
[in]_nameTrajectory pose w.r.t. to the trajectory origin
See also
Pose

◆ TrajectoryPose()

std::optional<math::Pose3d> TrajectoryPose ( const EntityComponentManager _ecm) const

Get the trajectory pose of the actor. There are two ways that the actor can follow a trajectory: 1) SDF script, 2) manually setting trajectory pose. This function retrieves 2) the manual trajectory pose set by the user. The Trajectory pose is given relative to the trajectory pose origin returned by Pose().

Parameters
[in]_ecmEntity Component manager.
Returns
Trajectory pose of the actor w.r.t. to trajectory origin.
See also
Pose

◆ Valid()

bool Valid ( const EntityComponentManager _ecm) const

Check whether this actor correctly refers to an entity that has a components::Actor.

Parameters
[in]_ecmEntity-component manager.
Returns
True if it's a valid actor in the manager.

◆ WorldPose()

std::optional<math::Pose3d> WorldPose ( const EntityComponentManager _ecm) const

Get the world pose of the actor. This returns the current world pose of the actor computed by gazebo. The world pose is the combination of the actor's pose and its trajectory pose. The currently trajectory pose is either manually set via SetTrajectoryPose or interpolated from waypoints in the SDF script based on the current time.

Parameters
[in]_ecmEntity-component manager.
Returns
World pose of the actor or nullopt if the entity does not have a components::WorldPose component.
See also
Pose

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