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...

#include <gz/sim/Model.hh>

Public Member Functions
	Model (const Model &_model)
	Copy constructor.

	Model (Model &&_model) noexcept
	Move constructor.

	Model (sim::Entity _entity=kNullEntity)
	Constructor.

virtual	~Model ()
	Destructor.

sim::Entity	CanonicalLink (const EntityComponentManager &_ecm) const
	Get the model's canonical link entity.

sim::Entity	Entity () const
	Get the entity which this Model is related to.

sim::Entity	JointByName (const EntityComponentManager &_ecm, const std::string &_name) const
	Get the ID of a joint entity which is an immediate child of this model.

uint64_t	JointCount (const EntityComponentManager &_ecm) const
	Get the number of joints which are immediate children of this model.

std::vector< sim::Entity >	Joints (const EntityComponentManager &_ecm) const
	Get all joints which are immediate children of this model.

sim::Entity	LinkByName (const EntityComponentManager &_ecm, const std::string &_name) const
	Get the ID of a link entity which is an immediate child of this model.

uint64_t	LinkCount (const EntityComponentManager &_ecm) const
	Get the number of links which are immediate children of this model.

std::vector< sim::Entity >	Links (const EntityComponentManager &_ecm) const
	Get all links which are immediate children of this model.

sim::Entity	ModelByName (const EntityComponentManager &_ecm, const std::string &_name) const
	Get the ID of a nested model entity which is an immediate child of this model.

uint64_t	ModelCount (const EntityComponentManager &_ecm) const
	Get the number of nested models which are immediate children of this model.

std::vector< sim::Entity >	Models (const EntityComponentManager &_ecm) const
	Get all models which are immediate children of this model.

std::string	Name (const EntityComponentManager &_ecm) const
	Get the model's unscoped name.

Model &	operator= (const Model &_model)
	Copy assignment operator.

Model &	operator= (Model &&_model) noexcept
	Move assignment operator.

bool	SelfCollide (const EntityComponentManager &_ecm) const
	Get whether this model has self-collide enabled.

void	SetWorldPoseCmd (EntityComponentManager &_ecm, const math::Pose3d &_pose)
	Set a command to change the model's pose.

std::string	SourceFilePath (const EntityComponentManager &_ecm) const
	Get the source file where this model came from. If empty, the model wasn't loaded directly from a file, probably from an SDF string.

bool	Static (const EntityComponentManager &_ecm) const
	Get whether this model is static.

bool	Valid (const EntityComponentManager &_ecm) const
	Check whether this model correctly refers to an entity that has a components::Model.

bool	WindMode (const EntityComponentManager &_ecm) const
	Get whether this model has wind enabled.

Detailed Description

This class provides wrappers around entities and components which are more convenient and straight-forward to use than dealing with the EntityComponentManager directly. All the functions provided here are meant to be used with a model entity.

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

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

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

Model model(entity); std::string name = model.Name(ecm);

Todo:: (louise) Store the ecm instead of passing it at every API call.

Constructor & Destructor Documentation

◆ Model() [1/3]

Model ( sim::Entity _entity = kNullEntity )

explicit

Constructor.

Parameters

[in] _entity Model entity

◆ Model() [2/3]

Model ( const Model & _model )

Copy constructor.

Parameters

[in] _model Model to copy.

◆ Model() [3/3]

Model ( Model && _model )

noexcept

Move constructor.

Parameters

[in] _model Model to move.

◆ ~Model()

virtual ~Model ( )

virtual

Destructor.

Member Function Documentation

◆ CanonicalLink()

sim::Entity CanonicalLink ( const EntityComponentManager & _ecm ) const

Get the model's canonical link entity.

Parameters

[in] _ecm Entity-component manager.

Returns: Link entity.

◆ Entity()

sim::Entity Entity ( ) const

Get the entity which this Model is related to.

Returns: Model entity.

◆ JointByName()

sim::Entity JointByName	(	const EntityComponentManager &	_ecm,
		const std::string &	_name
	)		const

Get the ID of a joint entity which is an immediate child of this model.

Parameters

[in]	_ecm	Entity-component manager.
[in]	_name	Joint name.

Returns: Joint entity.

◆ JointCount()

uint64_t JointCount ( const EntityComponentManager & _ecm ) const

Get the number of joints which are immediate children of this model.

Parameters

[in] _ecm Entity-component manager.

Returns: Number of joints in this model.

◆ Joints()

std::vector< sim::Entity > Joints ( const EntityComponentManager & _ecm ) const

Get all joints which are immediate children of this model.

Parameters

[in] _ecm Entity-component manager.

Returns: All joints in this model.

◆ LinkByName()

sim::Entity LinkByName	(	const EntityComponentManager &	_ecm,
		const std::string &	_name
	)		const

Get the ID of a link entity which is an immediate child of this model.

Parameters

[in]	_ecm	Entity-component manager.
[in]	_name	Link name.

Returns: Link entity.

◆ LinkCount()

uint64_t LinkCount ( const EntityComponentManager & _ecm ) const

Get the number of links which are immediate children of this model.

Parameters

[in] _ecm Entity-component manager.

Returns: Number of links in this model.

◆ Links()

std::vector< sim::Entity > Links ( const EntityComponentManager & _ecm ) const

Get all links which are immediate children of this model.

Parameters

[in] _ecm Entity-component manager.

Returns: All links in this model.

◆ ModelByName()

sim::Entity ModelByName	(	const EntityComponentManager &	_ecm,
		const std::string &	_name
	)		const

Get the ID of a nested model entity which is an immediate child of this model.

Parameters

[in]	_ecm	Entity-component manager.
[in]	_name	Nested model name.

Returns: Nested model entity.

◆ ModelCount()

uint64_t ModelCount ( const EntityComponentManager & _ecm ) const

Get the number of nested models which are immediate children of this model.

Parameters

[in] _ecm Entity-component manager.

Returns: Number of nested models in this model.

◆ Models()

std::vector< sim::Entity > Models ( const EntityComponentManager & _ecm ) const

Get all models which are immediate children of this model.

Parameters

[in] _ecm Entity-component manager.

Returns: All models in this model.

◆ Name()

std::string Name ( const EntityComponentManager & _ecm ) const

Get the model's unscoped name.

Parameters

[in] _ecm Entity-component manager.

Returns: Model's name.

◆ operator=() [1/2]

Model & operator= ( const Model & _model )

Copy assignment operator.

Parameters

[in] _model Model to copy.

Returns: Reference to this.

◆ operator=() [2/2]

Model & operator= ( Model && _model )

noexcept

Move assignment operator.

Parameters

[in] _model Model component to move.

Returns: Reference to this.

◆ SelfCollide()

bool SelfCollide ( const EntityComponentManager & _ecm ) const

Get whether this model has self-collide enabled.

Parameters

[in] _ecm Entity-component manager.

Returns: True if self-colliding.

◆ SetWorldPoseCmd()

void SetWorldPoseCmd	(	EntityComponentManager &	_ecm,
		const math::Pose3d &	_pose
	)

Set a command to change the model's pose.

Parameters

[in]	_ecm	Entity-component manager.
[in]	_pose	New model pose.

◆ SourceFilePath()

std::string SourceFilePath ( const EntityComponentManager & _ecm ) const

Get the source file where this model came from. If empty, the model wasn't loaded directly from a file, probably from an SDF string.

Parameters

[in] _ecm Entity-component manager.

Returns: Path to the source SDF file.

◆ Static()

bool Static ( const EntityComponentManager & _ecm ) const

Get whether this model is static.

Parameters

[in] _ecm Entity-component manager.

Returns: True if static.

◆ Valid()

bool Valid ( const EntityComponentManager & _ecm ) const

Check whether this model correctly refers to an entity that has a components::Model.

Parameters

[in] _ecm Entity-component manager.

Returns: True if it's a valid model in the manager.

◆ WindMode()

bool WindMode ( const EntityComponentManager & _ecm ) const

Get whether this model has wind enabled.

Parameters

[in] _ecm Entity-component manager.

Returns: True if wind mode is on.

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

Model.hh

Gazebo Sim

API Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Model() [1/3]

◆ Model() [2/3]

◆ Model() [3/3]

◆ ~Model()

Member Function Documentation

◆ CanonicalLink()

◆ Entity()

◆ JointByName()

◆ JointCount()

◆ Joints()

◆ LinkByName()

◆ LinkCount()

◆ Links()

◆ ModelByName()

◆ ModelCount()

◆ Models()

◆ Name()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ SelfCollide()

◆ SetWorldPoseCmd()

◆ SourceFilePath()

◆ Static()

◆ Valid()

◆ WindMode()