Gazebo is a leading open source robotics simulator, that provides high fidelity physics, rendering, and sensor simulation. More...
Namespaces | |
comms | |
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 | |
GZ_SIM_VERSION_NAMESPACE | |
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 | Actor |
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... | |
class | AirPressure |
A class that handles air pressure changes. More... | |
class | AlignTool |
Provides buttons for the align tool. More... | |
class | Altimeter |
A class that handles altimeter changes. More... | |
class | AnimationUpdateData |
Data structure for updating skeleton animations. More... | |
class | ApplyForceTorque |
Publish wrench to "/world/<world_name>/wrench" topic. Automatically loads the ApplyLinkWrench system. More... | |
class | BananaForScale |
Provides buttons for adding a banana for scale. More... | |
class | CopyPaste |
Plugin for copying/pasting entities in the GUI. 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 |
This plugin is in charge of showing the entity context menu when the right button is clicked on a visual. More... | |
class | EntityContextMenuHandler |
class | EntityContextMenuItem |
A QQUickItem that manages the render window. More... | |
class | EntityTree |
Displays a tree view with all the entities in the world. More... | |
class | EnvironmentalSensorSystem |
Sensor for reading environmental data loaded from outside world. To use, add this system to the world file, then instantiate sensors of custom type with gz:type="environmental_sensor/{field_name}", where field_name refers to the type of data you would like to output. Alternatively, if you would like to specify a custom field name you may do so using the <environment_variable> tag. More... | |
class | EnvironmentLoader |
A GUI plugin for a user to load an Environment component into the ECM on a live simulation. More... | |
class | EnvironmentVisualization |
A GUI plugin for a user to load an Environment component into the ECM on a live simulation. More... | |
class | EnvironmentVisualizationTool |
This class helps handle point cloud visuallizations of environment data. More... | |
class | EventManager |
The EventManager is used to send/receive notifications of simulator events. More... | |
class | GlobalIlluminationCiVct |
Enable and configure Global Illumination using CIVCT (Cascaded Image Voxel Cone Tracing) More... | |
class | GlobalIlluminationVct |
Enable and configure Global Illumination using VCT (Voxel Cone Tracing) More... | |
class | GuiSystem |
Base class for a GUI System. More... | |
class | GzSceneManager |
Updates a 3D scene based on information coming from the ECM. This plugin doesn't instantiate a new 3D scene. Instead, it relies on another plugin being loaded alongside it that will create and paint the scene to the window, such as gz::gui::plugins::MinimalScene . More... | |
class | GzSimPlugin |
GzSim QML Plugin that registers C++ class so that they are accessible from QML. More... | |
class | Imu |
A class that handles IMU sensor changes. More... | |
class | ISystemConfigure |
Interface for a system that implements optional configuration. More... | |
class | ISystemConfigureParameters |
Interface for a system that declares parameters. 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 | ISystemReset |
class | ISystemUpdate |
Interface for a system that uses the Update phase. More... | |
class | Joint |
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 joint entity. More... | |
class | JointType |
A class that handles joint changes. More... | |
class | Lidar |
A class that handles Lidar sensor changes. More... | |
class | Light |
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 light entity. More... | |
class | Lights |
Provides buttons for adding a point, directional, or spot light to the scene. 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 | Magnetometer |
A class that handles magnetometer changes. 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 | ModelEditor |
Model Editor. More... | |
class | MouseDrag |
Translate and rotate links by dragging them with the mouse. Automatically loads the ApplyLinkWrench system. More... | |
class | PathModel |
Provides a model by which the resource spawner qml plugin pulls and updates from. More... | |
class | PlaybackScrubber |
Provides slider and functionality for log playback. to the scene. More... | |
class | PlotComponent |
A container of the component data that keeps track of the registered attributes and update their values and their registered charts. More... | |
class | Plotting |
Physics data plotting handler that keeps track of the registered components, update them and update the plot. More... | |
class | Pose3d |
A class that handles Pose3d changes. More... | |
class | RenderUtil |
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 | 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 | Sensor |
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 sensor entity. 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 | Spawn |
Allows to spawn models and lights using the spawn gui events or drag and drop. More... | |
class | System |
Base class for a System. More... | |
class | SystemLoader |
Class for loading/unloading System plugins. 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 | 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 video recording cababilities to the 3D scene. More... | |
class | ViewAngle |
Provides buttons for viewing angles. More... | |
class | VisualizationCapabilities |
Allows to visualize transparent, collisions, inertial, CoM and more. More... | |
class | VisualizeContacts |
Visualize the contacts returned by the Physics plugin. Use the checkbox to turn visualization on or off and spin boxes to change the size of the markers. More... | |
class | VisualizeLidar |
Visualize the LaserScan message returned by the sensors. Use the checkbox to turn visualization of non-hitting rays on or off and the textfield to select the message to be visualised. The combobox is used to select the type of visual for the sensor data. 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 | ComponentCreator = std::function< void(EntityComponentManager &, Entity, QStandardItem *)> |
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 > |
using | UpdateCallback = std::function< void(EntityComponentManager &)> |
UpdateCallback is a function defition that is used by a component to manage ECM changes. More... | |
Enumerations | |
enum class | AlignAxis { ALIGN_X = 0 , ALIGN_Y = 1 , ALIGN_Z = 2 } |
Enumeration of the axes to be aligned relative to. More... | |
enum class | AlignConfig { ALIGN_MIN , ALIGN_MID , ALIGN_MAX } |
enum class | AlignState { HOVER = 0 , RESET = 1 , ALIGN = 2 , NONE = 3 } |
Enumeration of the states within the Align Tool. More... | |
enum class | ComponentState { NoChange = 0 , PeriodicChange = 1 , OneTimeChange = 2 } |
Possible states for a component. More... | |
enum class | PrimitiveLight { kDirectional , kPoint , kSpot } |
Enumeration of available primitive light types. More... | |
enum class | PrimitiveShape { kBox , kCapsule , kCone , kCylinder , kEllipsoid , kSphere } |
Enumeration of available primitive shape types. More... | |
enum | TransformType { ADD_VELOCITY_LOCAL , ADD_VELOCITY_GLOBAL , LOCAL , GLOBAL } |
Transform Type. More... | |
Functions | |
void | addResourcePaths (const std::vector< std::string > &_paths={}) |
Add resource paths based on latest environment variables. This will update the SDF and Gazebo 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::ParticleEmitter &) |
Generic conversion from a particle emitter SDF object to another type. More... | |
template<> | |
sdf::ParticleEmitter | convert (const msgs::ParticleEmitter &_in) |
Specialized conversion from a particle emitter SDF object to a particle emitter message 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::Plugin &) |
Generic conversion from a msgs::Plugin to another type. More... | |
template<> | |
sdf::Plugin | convert (const msgs::Plugin &_in) |
Specialized conversion from a msgs::Plugin to an sdf::Plugin. More... | |
template<class Out > | |
Out | convert (const msgs::Plugin_V &) |
Generic conversion from a msgs::Plugin_V to another type. More... | |
template<> | |
sdf::Plugins | convert (const msgs::Plugin_V &_in) |
Specialized conversion from a msgs::Plugin_V to an sdf::Plugins. 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::Projector &) |
Generic conversion from a projector SDF object to another type. More... | |
template<> | |
sdf::Projector | convert (const msgs::Projector &_in) |
Specialized conversion from a projector SDF object to a projector message object. 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 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::Element &) |
Generic conversion from an SDF element to another type. More... | |
template<> | |
msgs::Plugin | convert (const sdf::Element &_in) |
Specialized conversion from an SDF element to a plugin 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... | |
std::string | convert (const sdf::LightType &_in) |
Generic conversion from a SDF light type to string. 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::ParticleEmitter &) |
Generic conversion from a particle emitter SDF object to another type. More... | |
template<> | |
msgs::ParticleEmitter | convert (const sdf::ParticleEmitter &_in) |
Specialized conversion from a particle emitter SDF object to a particle emitter message object. 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::Plugin &) |
Generic conversion from an SDF plugin to another type. More... | |
template<> | |
msgs::Plugin | convert (const sdf::Plugin &_in) |
Specialized conversion from an SDF plugin to a plugin message. More... | |
template<class Out > | |
Out | convert (const sdf::Plugins &) |
Generic conversion from an SDF plugins to another type. More... | |
template<> | |
msgs::Plugin_V | convert (const sdf::Plugins &_in) |
Specialized conversion from an SDF plugins to a plugin_v message. More... | |
template<class Out > | |
Out | convert (const sdf::Projector &) |
Generic conversion from a projector SDF object to another type. More... | |
template<> | |
msgs::Projector | convert (const sdf::Projector &_in) |
Specialized conversion from a projector SDF object to a projector message object. 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... | |
sdf::LightType | convert (const std::string &_in) |
Specialized conversion from a string to a sdf light type. 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 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::optional< math::Vector3d > | getGridFieldCoordinates (const EntityComponentManager &_ecm, const math::Vector3d &_worldPosition, const std::shared_ptr< components::EnvironmentalData > &_gridField) |
Get grid field coordinates based on a world position in cartesian coordinate frames. More... | |
std::string | getGUIConfigPath () |
getGUIConfigPath return the GUI config path More... | |
std::string | getGUIPluginInstallDir () |
getGUIPluginInstallDir return the GUI plugin install dir More... | |
std::string | getInstallPrefix () |
getInstallPrefix return the install prefix of the library i.e. CMAKE_INSTALL_PREFIX unless the library has been moved More... | |
std::string | getMediaInstallDir () |
getMediaInstallDir return the media install dir More... | |
std::string | getPluginInstallDir () |
getPluginInstallDir return the plugin install dir More... | |
std::string | getPrimitive (const std::string &_typeName) |
Return an SDF string of one of the available primitive shape or light types. More... | |
std::string | getPrimitiveLight (const PrimitiveLight &_type) |
Return an SDF string of one of the available primitive light types. More... | |
std::string | getPrimitiveShape (const PrimitiveShape &_type) |
Return an SDF string of one of the available primitive shape types. More... | |
std::string | getServerConfigPath () |
getServerConfigPath return the server config path More... | |
std::string | getSystemConfigPath () |
getSystemConfigPath return the system config path More... | |
std::optional< TransformType > | getTransformType (const std::string &_str) |
Given a string return the type of transform. More... | |
std::string | getWorldInstallDir () |
getWorldInstallDir return the world install dir More... | |
const common::Mesh * | loadMesh (const sdf::Mesh &_meshSdf) |
Load a mesh from a Mesh SDF DOM. More... | |
std::list< ServerConfig::PluginInfo > | loadPluginInfo (bool _isPlayback=false) |
Load plugin information, following ordering. More... | |
const common::Mesh * | optimizeMesh (const sdf::Mesh &_meshSdf, const common::Mesh &_mesh) |
Optimize input mesh. 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... | |
math::Vector3d | relativeVel (const Entity &_entity, const EntityComponentManager &_ecm) |
Helper function to compute world velocity of an entity. 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::string | resolveSdfWorldFile (const std::string &_sdfFilename, const std::string &_fuelResourceCache="") |
Convert an SDF world filename string, such as "shapes.sdf", to full system file path. The provided SDF filename may be a Fuel URI, relative path, name of an installed Gazebo world filename, or an absolute path. 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 sim::UpdateInfo object. More... | |
void | setNoise (sdf::Noise &_noise, double _mean, double _meanBias, double _stdDev, double _stdDevBias, double _dynamicBiasStdDev, double _dynamicBiasCorrelationTime) |
Helper function that will set all noise properties. More... | |
std::optional< math::Vector3d > | sphericalCoordinates (Entity _entity, const EntityComponentManager &_ecm) |
Get the spherical coordinates for an entity. More... | |
std::string | topicFromScopedName (const Entity &_entity, const EntityComponentManager &_ecm, bool _excludeWorld=true) |
Helper function that returns a valid Gazebo Transport topic consisting of the scoped name for the provided entity. More... | |
Entity | topLevelModel (const Entity &_entity, const EntityComponentManager &_ecm) |
Get the top level model of an entity. More... | |
math::Vector3d | transformFrame (const TransformType _type, const math::Pose3d &_pose, const math::Vector3d &_velocity, const math::Vector3d &_reading) |
Given a string return the type of transform. 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 GZ_SIM_HIDDEN | EntityComponentManagerPrivate |
class GZ_SIM_HIDDEN | EventManagerPrivate |
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 {"GZ_SIM_RENDER_ENGINE_PATH"} |
Environment variable holding paths to custom rendering engine plugins. More... | |
const std::string | kResourcePathEnv {"GZ_SIM_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 {"GZ_SIM_SERVER_CONFIG_PATH"} |
Environment variable holding server config paths. More... | |
class GZ_SIM_HIDDEN | LinkPrivate |
class GZ_SIM_HIDDEN | ModelPrivate |
class GZ_SIM_HIDDEN | SystemLoaderPrivate |
class GZ_SIM_HIDDEN | WorldPrivate |
Detailed Description
Gazebo is a leading open source robotics simulator, that provides high fidelity physics, rendering, and sensor simulation.
Typedef Documentation
◆ ComponentCreator
using ComponentCreator = std::function<void(EntityComponentManager &, Entity, QStandardItem *)> |
ComponentCreator is a function definition that a component can use to create the appropriate UI elements for an Entity based on a ComponentTypeId.
- See also
- void ComponentInspectorEditor::RegisterComponentCreator( UpdateCallback _cb)
◆ 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 > |
◆ UpdateCallback
using UpdateCallback = std::function<void(EntityComponentManager &)> |
UpdateCallback is a function defition that is used by a component to manage ECM changes.
- See also
- void ComponentInspectorEditor::AddUpdateCallback(UpdateCallback _cb)
Enumeration Type Documentation
◆ AlignAxis
|
strong |
◆ AlignConfig
|
strong |
◆ AlignState
|
strong |
Enumeration of the states within the Align Tool.
◆ ComponentState
|
strong |
Possible states for a component.
◆ PrimitiveLight
|
strong |
◆ PrimitiveShape
|
strong |
◆ TransformType
enum TransformType |
Transform Type.
Function Documentation
◆ addResourcePaths()
void gz::sim::addResourcePaths | ( | const std::vector< std::string > & | _paths = {} | ) |
Add resource paths based on latest environment variables. This will update the SDF and Gazebo environment variables, and optionally add more paths to the list.
- Parameters
-
[in] _paths Optional paths to add.
◆ asFullPath()
std::string gz::sim::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() [1/82]
Out gz::sim::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() [2/82]
msgs::AxisAlignedBox gz::sim::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() [3/82]
Out gz::sim::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() [4/82]
msgs::Inertial gz::sim::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() [5/82]
Out gz::sim::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() [6/82]
sdf::Actor gz::sim::convert | ( | const msgs::Actor & | _in | ) |
◆ convert() [7/82]
Out gz::sim::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() [8/82]
sdf::Atmosphere gz::sim::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() [9/82]
Out gz::sim::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() [10/82]
sdf::JointAxis gz::sim::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() [11/82]
Out gz::sim::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() [12/82]
math::AxisAlignedBox gz::sim::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() [13/82]
Out gz::sim::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() [14/82]
sdf::Collision gz::sim::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() [15/82]
Out gz::sim::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() [16/82]
sdf::Geometry gz::sim::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() [17/82]
Out gz::sim::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() [18/82]
math::Inertiald gz::sim::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() [19/82]
Out gz::sim::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() [20/82]
sdf::Light gz::sim::convert | ( | const msgs::Light & | _in | ) |
◆ convert() [21/82]
Out gz::sim::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() [22/82]
sdf::Material gz::sim::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() [23/82]
Out gz::sim::convert | ( | const msgs::ParticleEmitter & | _in | ) |
Generic conversion from a particle emitter SDF object to another type.
Specialized conversion from a particle emitter SDF object to a particle emitter message object.
- Parameters
-
[in] _in Particle emitter SDF object.
- Returns
- Conversion result.
- Template Parameters
-
Out Output type.
◆ convert() [24/82]
sdf::ParticleEmitter gz::sim::convert | ( | const msgs::ParticleEmitter & | _in | ) |
Specialized conversion from a particle emitter SDF object to a particle emitter message object.
- Parameters
-
[in] _in Particle emitter SDF object.
- Returns
- Particle emitter message.
Specialized conversion from a particle emitter SDF object to a particle emitter message object.
- Parameters
-
[in] _in Particle emitter SDF object.
- Returns
- Conversion result.
- Template Parameters
-
Out Output type.
◆ convert() [25/82]
Out gz::sim::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() [26/82]
sdf::Physics gz::sim::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() [27/82]
Out gz::sim::convert | ( | const msgs::Plugin & | _in | ) |
Generic conversion from a msgs::Plugin to another type.
Specialized conversion from a msgs::Plugin to an sdf::Plugin.
- Parameters
-
[in] _in msgs::Plugin.
- Returns
- Conversion result.
- Template Parameters
-
Out Output type.
◆ convert() [28/82]
sdf::Plugin gz::sim::convert | ( | const msgs::Plugin & | _in | ) |
Specialized conversion from a msgs::Plugin to an sdf::Plugin.
- Parameters
-
[in] _in msgs::Plugin.
- Returns
- sdf::Plugin.
Specialized conversion from a msgs::Plugin to an sdf::Plugin.
- Parameters
-
[in] _in msgs::Plugin.
- Returns
- Conversion result.
- Template Parameters
-
Out Output type.
◆ convert() [29/82]
Out gz::sim::convert | ( | const msgs::Plugin_V & | _in | ) |
Generic conversion from a msgs::Plugin_V to another type.
Specialized conversion from a msgs::Plugin_V to an sdf::Plugins.
- Parameters
-
[in] _in msgs::Plugin_V.
- Returns
- Conversion result.
- Template Parameters
-
Out Output type.
◆ convert() [30/82]
sdf::Plugins gz::sim::convert | ( | const msgs::Plugin_V & | _in | ) |
Specialized conversion from a msgs::Plugin_V to an sdf::Plugins.
- Parameters
-
[in] _in msgs::Plugin_V.
- Returns
- sdf::Plugins.
Specialized conversion from a msgs::Plugin_V to an sdf::Plugins.
- Parameters
-
[in] _in msgs::Plugin_V.
- Returns
- Conversion result.
- Template Parameters
-
Out Output type.
◆ convert() [31/82]
Out gz::sim::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() [32/82]
math::Pose3d gz::sim::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() [33/82]
Out gz::sim::convert | ( | const msgs::Projector & | _in | ) |
Generic conversion from a projector SDF object to another type.
Specialized conversion from a projector SDF object to a projector message object.
- Parameters
-
[in] _in Projector SDF object.
- Returns
- Conversion result.
- Template Parameters
-
Out Output type.
◆ convert() [34/82]
sdf::Projector gz::sim::convert | ( | const msgs::Projector & | _in | ) |
Specialized conversion from a projector SDF object to a projector message object.
- Parameters
-
[in] _in Projecotr SDF object.
- Returns
- Projector message.
Specialized conversion from a projector SDF object to a projector message object.
- Parameters
-
[in] _in Projector SDF object.
- Returns
- Conversion result.
- Template Parameters
-
Out Output type.
◆ convert() [35/82]
Out gz::sim::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() [36/82]
sdf::Scene gz::sim::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() [37/82]
Out gz::sim::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() [38/82]
sdf::Sensor gz::sim::convert | ( | const msgs::Sensor & | _in | ) |
◆ convert() [39/82]
Out gz::sim::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() [40/82]
sdf::Noise gz::sim::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() [41/82]
Out gz::sim::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() [42/82]
std::chrono::steady_clock::duration gz::sim::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() [43/82]
Out gz::sim::convert | ( | const msgs::WorldStatistics & | _in | ) |
Generic conversion from a world statistics message to another type.
Specialized conversion from a world statistics message to an UpdateInfo
object.
- Parameters
-
[in] _in WorldStatistics message.
- Returns
- Conversion result.
- Template Parameters
-
Out Output type.
◆ convert() [44/82]
UpdateInfo gz::sim::convert | ( | const msgs::WorldStatistics & | _in | ) |
Specialized conversion from a world statistics message to an UpdateInfo
object.
- Parameters
-
[in] _in WorldStatistics message.
- Returns
- Update info.
Specialized conversion from a world statistics message to an UpdateInfo
object.
- Parameters
-
[in] _in WorldStatistics message.
- Returns
- Conversion result.
- Template Parameters
-
Out Output type.
◆ convert() [45/82]
Out gz::sim::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() [46/82]
msgs::Actor gz::sim::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() [47/82]
Out gz::sim::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() [48/82]
msgs::Atmosphere gz::sim::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() [49/82]
Out gz::sim::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() [50/82]
msgs::Collision gz::sim::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() [51/82]
Out gz::sim::convert | ( | const sdf::Element & | _in | ) |
Generic conversion from an SDF element to another type.
Specialized conversion from an SDF element to a plugin message.
- Parameters
-
[in] _in SDF element.
- Returns
- Conversion result.
- Template Parameters
-
Out Output type.
◆ convert() [52/82]
msgs::Plugin gz::sim::convert | ( | const sdf::Element & | _in | ) |
Specialized conversion from an SDF element to a plugin message.
- Parameters
-
[in] _in SDF element.
- Returns
- Plugin message.
Specialized conversion from an SDF element to a plugin message.
- Parameters
-
[in] _in SDF element.
- Returns
- Conversion result.
- Template Parameters
-
Out Output type.
◆ convert() [53/82]
Out gz::sim::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() [54/82]
msgs::Geometry gz::sim::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() [55/82]
Out gz::sim::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() [56/82]
msgs::GUI gz::sim::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() [57/82]
Out gz::sim::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() [58/82]
msgs::Axis gz::sim::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() [59/82]
Out gz::sim::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() [60/82]
msgs::Light gz::sim::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() [61/82]
std::string gz::sim::convert | ( | const sdf::LightType & | _in | ) |
Generic conversion from a SDF light type to string.
- Parameters
-
[in] _in SDF light type.
- Returns
- Conversion result.
- Template Parameters
-
Out Output type.
◆ convert() [62/82]
Out gz::sim::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() [63/82]
msgs::Material gz::sim::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() [64/82]
Out gz::sim::convert | ( | const sdf::ParticleEmitter & | _in | ) |
Generic conversion from a particle emitter SDF object to another type.
Specialized conversion from a particle emitter SDF object to a particle emitter message object.
- Parameters
-
[in] _in Particle emitter SDF object.
- Returns
- Conversion result.
- Template Parameters
-
Out Output type.
◆ convert() [65/82]
msgs::ParticleEmitter gz::sim::convert | ( | const sdf::ParticleEmitter & | _in | ) |
Specialized conversion from a particle emitter SDF object to a particle emitter message object.
- Parameters
-
[in] _in Particle emitter SDF object.
- Returns
- Particle emitter message.
Specialized conversion from a particle emitter SDF object to a particle emitter message object.
- Parameters
-
[in] _in Particle emitter SDF object.
- Returns
- Conversion result.
- Template Parameters
-
Out Output type.
◆ convert() [66/82]
Out gz::sim::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() [67/82]
msgs::Physics gz::sim::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() [68/82]
Out gz::sim::convert | ( | const sdf::Plugin & | _in | ) |
Generic conversion from an SDF plugin to another type.
Specialized conversion from an SDF plugin to a plugin message.
- Parameters
-
[in] _in SDF plugin.
- Returns
- Conversion result.
- Template Parameters
-
Out Output type.
◆ convert() [69/82]
msgs::Plugin gz::sim::convert | ( | const sdf::Plugin & | _in | ) |
Specialized conversion from an SDF plugin to a plugin message.
- Parameters
-
[in] _in SDF plugin.
- Returns
- Plugin message.
Specialized conversion from an SDF plugin to a plugin message.
- Parameters
-
[in] _in SDF plugin.
- Returns
- Conversion result.
- Template Parameters
-
Out Output type.
◆ convert() [70/82]
Out gz::sim::convert | ( | const sdf::Plugins & | _in | ) |
Generic conversion from an SDF plugins to another type.
Specialized conversion from an SDF plugins to a plugin_v message.
- Parameters
-
[in] _in SDF plugins.
- Returns
- Conversion result.
- Template Parameters
-
Out Output type.
◆ convert() [71/82]
msgs::Plugin_V gz::sim::convert | ( | const sdf::Plugins & | _in | ) |
Specialized conversion from an SDF plugins to a plugin_v message.
- Parameters
-
[in] _in SDF plugins.
- Returns
- Plugin_V message.
Specialized conversion from an SDF plugins to a plugin_v message.
- Parameters
-
[in] _in SDF plugins.
- Returns
- Conversion result.
- Template Parameters
-
Out Output type.
◆ convert() [72/82]
Out gz::sim::convert | ( | const sdf::Projector & | _in | ) |
Generic conversion from a projector SDF object to another type.
Specialized conversion from a projector SDF object to a projector message object.
- Parameters
-
[in] _in Projector SDF object.
- Returns
- Conversion result.
- Template Parameters
-
Out Output type.
◆ convert() [73/82]
msgs::Projector gz::sim::convert | ( | const sdf::Projector & | _in | ) |
Specialized conversion from a projector SDF object to a projector message object.
- Parameters
-
[in] _in Projector SDF object.
- Returns
- Projector message.
Specialized conversion from a projector SDF object to a projector message object.
- Parameters
-
[in] _in Projector SDF object.
- Returns
- Conversion result.
- Template Parameters
-
Out Output type.
◆ convert() [74/82]
Out gz::sim::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() [75/82]
msgs::Scene gz::sim::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() [76/82]
Out gz::sim::convert | ( | const sdf::Sensor & | _in | ) |
◆ convert() [77/82]
msgs::Sensor gz::sim::convert | ( | const sdf::Sensor & | _in | ) |
◆ convert() [78/82]
Out gz::sim::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() [79/82]
msgs::Time gz::sim::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
- Gazebo 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() [80/82]
msgs::Entity_Type convert | ( | const std::string & | _in | ) |
Specialized conversion from a string to a sdf light type.
Specialized conversion from a string to an Entity_Type msg.
Generic conversion from a string to another type.
- Parameters
-
[in] _in String with the light type.
- Returns
- Light type emun SDF object.
- Parameters
-
[in] _in string.
- Returns
- Conversion result.
- Template Parameters
-
Out Output type.
- Parameters
-
[in] _in string message.
- Returns
- Entity_Type.
◆ convert() [81/82]
Out gz::sim::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() [82/82]
msgs::WorldStatistics gz::sim::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 gz::sim::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> gz::sim::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 gz::sim::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 gz::sim::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 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 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 gz::sim::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.
◆ getGridFieldCoordinates()
std::optional<math::Vector3d> gz::sim::getGridFieldCoordinates | ( | const EntityComponentManager & | _ecm, |
const math::Vector3d & | _worldPosition, | ||
const std::shared_ptr< components::EnvironmentalData > & | _gridField | ||
) |
Get grid field coordinates based on a world position in cartesian coordinate frames.
- Parameters
-
[in] _ecm Entity Component Manager [in] _worldPosition world position [in] _gridField Gridfield you are interested in.
◆ getGUIConfigPath()
std::string gz::sim::getGUIConfigPath | ( | ) |
getGUIConfigPath return the GUI config path
◆ getGUIPluginInstallDir()
std::string gz::sim::getGUIPluginInstallDir | ( | ) |
getGUIPluginInstallDir return the GUI plugin install dir
◆ getInstallPrefix()
std::string gz::sim::getInstallPrefix | ( | ) |
getInstallPrefix return the install prefix of the library i.e. CMAKE_INSTALL_PREFIX unless the library has been moved
◆ getMediaInstallDir()
std::string gz::sim::getMediaInstallDir | ( | ) |
getMediaInstallDir return the media install dir
◆ getPluginInstallDir()
std::string gz::sim::getPluginInstallDir | ( | ) |
getPluginInstallDir return the plugin install dir
◆ getPrimitive()
std::string gz::sim::getPrimitive | ( | const std::string & | _typeName | ) |
Return an SDF string of one of the available primitive shape or light types.
- Parameters
-
[in] _typeName Type name of the of shape or light to retrieve. Must be one of: box, sphere, cylinder, cone, capsule, ellipsoid, directional, point, or spot.
- Returns
- String containing SDF description of primitive shape or light. Empty string if the _typeName is invalid.
◆ getPrimitiveLight()
std::string gz::sim::getPrimitiveLight | ( | const PrimitiveLight & | _type | ) |
Return an SDF string of one of the available primitive light types.
- Parameters
-
[in] _type Type of light to retrieve
- Returns
- String containing SDF description of primitive light Empty string if the _type is not supported.
◆ getPrimitiveShape()
std::string gz::sim::getPrimitiveShape | ( | const PrimitiveShape & | _type | ) |
Return an SDF string of one of the available primitive shape types.
- Parameters
-
[in] _type Type of shape to retrieve
- Returns
- String containing SDF description of primitive shape Empty string if the _type is not supported.
◆ getServerConfigPath()
std::string gz::sim::getServerConfigPath | ( | ) |
getServerConfigPath return the server config path
◆ getSystemConfigPath()
std::string gz::sim::getSystemConfigPath | ( | ) |
getSystemConfigPath return the system config path
◆ getTransformType()
std::optional<TransformType> gz::sim::getTransformType | ( | const std::string & | _str | ) |
Given a string return the type of transform.
- Parameters
-
[in] _str - input string
- Returns
- std::nullopt if string invalid, else corresponding transform
References ADD_VELOCITY_GLOBAL, ADD_VELOCITY_LOCAL, GLOBAL, and LOCAL.
◆ getWorldInstallDir()
std::string gz::sim::getWorldInstallDir | ( | ) |
getWorldInstallDir return the world install dir
◆ loadMesh()
const common::Mesh* gz::sim::loadMesh | ( | const sdf::Mesh & | _meshSdf | ) |
Load a mesh from a Mesh SDF DOM.
- Parameters
-
[in] _meshSdf Mesh SDF DOM
- Returns
- The loaded mesh or null if the mesh can not be loaded.
◆ loadPluginInfo()
std::list<ServerConfig::PluginInfo> gz::sim::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 GZ_SIM_SERVER_CONFIG_PATH environment variable.
- If GZ_SIM_SERVER_CONFIG_PATH is set but empty, no plugins are loaded.
- File at ${GZ_HOMEDIR}/.gz/sim/server.config
- File at ${GZ_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
◆ optimizeMesh()
const common::Mesh* gz::sim::optimizeMesh | ( | const sdf::Mesh & | _meshSdf, |
const common::Mesh & | _mesh | ||
) |
Optimize input mesh.
- Parameters
-
[in] _meshSdf Mesh SDF DOM with mesh optimization parameters [in] _mesh Input mesh to optimize.
- Returns
- The optimized mesh or null if the mesh can not be optimized.
◆ parsePluginsFromFile()
std::list<ServerConfig::PluginInfo> gz::sim::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> gz::sim::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.
◆ relativeVel()
math::Vector3d gz::sim::relativeVel | ( | const Entity & | _entity, |
const EntityComponentManager & | _ecm | ||
) |
Helper function to compute world velocity of an entity.
- Parameters
-
[in] _entity Entity to get the world pose for [in] _ecm Immutable reference to ECM.
- Returns
- World pose of entity
◆ removeParentScope()
std::string gz::sim::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.
◆ resolveSdfWorldFile()
std::string gz::sim::resolveSdfWorldFile | ( | const std::string & | _sdfFilename, |
const std::string & | _fuelResourceCache = "" |
||
) |
Convert an SDF world filename string, such as "shapes.sdf", to full system file path. The provided SDF filename may be a Fuel URI, relative path, name of an installed Gazebo world filename, or an absolute path.
- Parameters
-
[in] _sdfFile An SDF world filename such as: - "shapes.sdf" - This is referencing an installed world file.
- "../shapes.sdf" - This is referencing a relative world file.
- "/home/user/shapes.sdf" - This is reference an absolute world file.
- "https://fuel.gazebosim.org/1.0/openrobotics/worlds/shapes.sdf" This is referencing a Fuel URI. This will download the world file.
[in] _fuelResourceCache Path to a Fuel resource cache, if known.
- Returns
- Full path to the SDF world file. An empty string is returned if the file could not be found.
◆ resourcePaths()
std::vector<std::string> gz::sim::resourcePaths | ( | ) |
Get resource paths based on latest environment variables.
- Returns
- All paths in the GZ_SIM_RESOURCE_PATH variable.
◆ scopedName()
std::string gz::sim::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 gz::sim::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 gz::sim::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 gz::sim::set | ( | msgs::WorldStatistics * | _msg, |
const UpdateInfo & | _in | ||
) |
Helper function that sets a mutable msgs::WorldStatistics object to the values contained in a sim::UpdateInfo object.
- Parameters
-
[out] _msg WorldStatistics message to set. [in] _in UpdateInfo object.
◆ setNoise()
void gz::sim::setNoise | ( | sdf::Noise & | _noise, |
double | _mean, | ||
double | _meanBias, | ||
double | _stdDev, | ||
double | _stdDevBias, | ||
double | _dynamicBiasStdDev, | ||
double | _dynamicBiasCorrelationTime | ||
) |
Helper function that will set all noise properties.
- Parameters
-
[out] _noise Noise to set [in] _mean Mean value [in] _meanBias Bias mean value [in] _stdDev Standard deviation value [in] _stdDevBias Bias standard deviation value [in] _dynamicBiasStdDev Dynamic bias standard deviation value [in] _dynamicBiasCorrelationTime Dynamic bias correlation time value
◆ sphericalCoordinates()
std::optional<math::Vector3d> gz::sim::sphericalCoordinates | ( | Entity | _entity, |
const EntityComponentManager & | _ecm | ||
) |
Get the spherical coordinates for an entity.
- Parameters
-
[in] _entity Entity whose coordinates we want. [in] _ecm Entity component manager
- Returns
- The entity's latitude (deg), longitude (deg) and elevation (m). If the entity doesn't have a pose, or the world's spherical coordinates haven't been defined, this will return nullopt.
◆ topicFromScopedName()
std::string gz::sim::topicFromScopedName | ( | const Entity & | _entity, |
const EntityComponentManager & | _ecm, | ||
bool | _excludeWorld = true |
||
) |
Helper function that returns a valid Gazebo Transport topic consisting of the scoped name for the provided entity.
For example, if the provided entity has a scoped name of my_model::my_link::my_sensor
then the resulting topic name will be /model/my_model/link/my_link/sensor/my_sensor
. If _excludeWorld is false, then the topic name will be prefixed by /world/WORLD_NAME/
, where WORLD_NAME
is the name of the world.
- Parameters
-
[in] _entity The entity to generate the topic name for. [in] _ecm The entity component manager. [in] _excludeWorld True to exclude the world name from the topic.
- Returns
- A Gazebo Transport topic name based on the scoped name of the provided entity, or empty string if a topic name could not be generated.
◆ topLevelModel()
Entity gz::sim::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.
◆ transformFrame()
math::Vector3d gz::sim::transformFrame | ( | const TransformType | _type, |
const math::Pose3d & | _pose, | ||
const math::Vector3d & | _velocity, | ||
const math::Vector3d & | _reading | ||
) |
Given a string return the type of transform.
- Parameters
-
[in] _type - Transform type. [in] _pose - Global pose of frame to be transformed into. [in] _velocity - Velocity of current frame. [in] _reading - vector to be transformed.
- Returns
- transformed vector.
References ADD_VELOCITY_GLOBAL, ADD_VELOCITY_LOCAL, LOCAL, and Pose3< class >::Rot().
◆ validTopic()
std::string gz::sim::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 gz::sim::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 gz::sim::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 gz::sim::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 GZ_SIM_HIDDEN EntityComponentManagerPrivate |
◆ EventManagerPrivate
class GZ_SIM_HIDDEN EventManagerPrivate |
◆ kComponentTypeIdInvalid
|
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(), EntityFeatureMap< PhysicsEntityT, PolicyT, RequiredFeatureList, OptionalFeatureLists >::Get(), and EntityFeatureMap< PhysicsEntityT, PolicyT, RequiredFeatureList, OptionalFeatureLists >::GetByPhysicsId().
◆ kRenderPluginPathEnv
const std::string kRenderPluginPathEnv {"GZ_SIM_RENDER_ENGINE_PATH"} |
Environment variable holding paths to custom rendering engine plugins.
◆ kResourcePathEnv
const std::string kResourcePathEnv {"GZ_SIM_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 {"GZ_SIM_SERVER_CONFIG_PATH"} |
Environment variable holding server config paths.
◆ LinkPrivate
class GZ_SIM_HIDDEN LinkPrivate |
◆ ModelPrivate
class GZ_SIM_HIDDEN ModelPrivate |
◆ SystemLoaderPrivate
class GZ_SIM_HIDDEN SystemLoaderPrivate |
◆ WorldPrivate
class GZ_SIM_HIDDEN WorldPrivate |