Gazebo Gazebo

API Reference

6.16.0
src/systems/physics/Physics.hh
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1 /*
2  * Copyright (C) 2018 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
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16 */
17 #ifndef GZ_GAZEBO_SYSTEMS_PHYSICS_HH_
18 #define GZ_GAZEBO_SYSTEMS_PHYSICS_HH_
19 
20 #include <memory>
21 #include <unordered_map>
22 #include <utility>
23 #include <gz/physics/FindFeatures.hh>
24 #include <gz/physics/RequestFeatures.hh>
25 
26 // Features need to be defined ahead of entityCast
27 #include <gz/physics/BoxShape.hh>
28 #include <gz/physics/CapsuleShape.hh>
29 #include <gz/physics/CylinderShape.hh>
30 #include <gz/physics/EllipsoidShape.hh>
31 #include <gz/physics/ForwardStep.hh>
32 #include <gz/physics/FrameSemantics.hh>
33 #include <gz/physics/FreeGroup.hh>
34 #include <gz/physics/FixedJoint.hh>
35 #include <gz/physics/GetContacts.hh>
36 #include <gz/physics/GetBoundingBox.hh>
37 #include <gz/physics/Joint.hh>
38 #include <gz/physics/Link.hh>
39 #include <gz/physics/RemoveEntities.hh>
40 #include <gz/physics/Shape.hh>
41 #include <gz/physics/SphereShape.hh>
42 #include <gz/physics/World.hh>
43 #include <gz/physics/mesh/MeshShape.hh>
44 #include <gz/physics/sdf/ConstructCollision.hh>
45 #include <gz/physics/sdf/ConstructJoint.hh>
46 #include <gz/physics/sdf/ConstructLink.hh>
47 #include <gz/physics/sdf/ConstructModel.hh>
48 #include <gz/physics/sdf/ConstructNestedModel.hh>
49 #include <gz/physics/sdf/ConstructWorld.hh>
50 
51 #include <gz/sim/config.hh>
52 #include <gz/sim/System.hh>
53 
54 namespace ignition
55 {
56 namespace gazebo
57 {
58 // Inline bracket to help doxygen filtering.
59 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
60 namespace systems
61 {
62  // Forward declarations.
63  class PhysicsPrivate;
64 
79 
80  class Physics:
81  public System,
82  public ISystemConfigure,
83  public ISystemUpdate
84  {
86  public: explicit Physics();
87 
89  public: ~Physics() override;
90 
91  // Documentation inherited
92  public: void Configure(const Entity &_entity,
95  EventManager &_eventMgr) final;
96 
98  public: void Update(const UpdateInfo &_info,
99  EntityComponentManager &_ecm) final;
100 
102  private: std::unique_ptr<PhysicsPrivate> dataPtr;
103  };
104 }
105 }
106 }
107 }
108 #endif
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light....
Definition: gz/sim/Entity.hh:58
This library is part of the Gazebo project.
The EntityComponentManager constructs, deletes, and returns components and entities....
Definition: gz/sim/EntityComponentManager.hh:66
STL class.
Base class for a System. Includes optional parameter : <include_entity_names>. When set to false,...
Definition: src/systems/physics/Physics.hh:80
void Update(const UpdateInfo &_info, EntityComponentManager &_ecm) final
Documentation inherited.
The EventManager is used to send/receive notifications of simulator events.
Definition: gz/sim/EventManager.hh:54
Information passed to systems on the update callback.
Definition: include/gz/sim/Types.hh:38
Interface for a system that implements optional configuration.
Definition: gz/sim/System.hh:90
~Physics() override
Destructor.
Base class for a System.
Definition: gz/sim/System.hh:75
Interface for a system that uses the Update phase.
Definition: gz/sim/System.hh:128
Component< sdf::Physics, class PhysicsTag, serializers::PhysicsSerializer > Physics
A component type that contains the physics properties of the World entity.
Definition: include/gz/sim/components/Physics.hh:50
void Configure(const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) final
Configure the system.