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| 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.
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| 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.
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| 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).
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| 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:
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| 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.
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| 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.
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| 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.
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| 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.
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| const common::Mesh * | loadMesh (const sdf::Mesh &_meshSdf) |
| | Load a mesh from a Mesh SDF DOM.
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| const common::Mesh * | optimizeMesh (const sdf::Mesh &_meshSdf, const common::Mesh &_mesh) |
| | Optimize input mesh.
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| math::Vector3d | relativeVel (const Entity &_entity, const EntityComponentManager &_ecm) |
| | Helper function to compute world velocity of an entity.
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| 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.
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| 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.
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| std::vector< std::string > | resourcePaths () |
| | Get resource paths based on latest environment variables.
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| 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.
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| std::optional< math::Vector3d > | sphericalCoordinates (Entity _entity, const EntityComponentManager &_ecm) |
| | Get the spherical coordinates for an entity.
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| 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.
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| Entity | topLevelModel (const Entity &_entity, const EntityComponentManager &_ecm) |
| | Get the top level model of an entity.
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| 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:
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| Entity | worldEntity (const Entity &_entity, const EntityComponentManager &_ecm) |
| | Get the world to which the given entity belongs.
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| Entity | worldEntity (const EntityComponentManager &_ecm) |
| | Get the first world entity that's found.
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| math::Pose3d | worldPose (const Entity &_entity, const EntityComponentManager &_ecm) |
| | Helper function to compute world pose of an entity.
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