Provides convenient functions to spawn entities and load their plugins from SDF elements, to remove them, and to change their hierarchy. More...

#include <SdfEntityCreator.hh>

Public Member Functions
	SdfEntityCreator (const SdfEntityCreator &_creator)
	Copy constructor.

	SdfEntityCreator (EntityComponentManager &_ecm, EventManager &_eventManager)
	Constructor.

	SdfEntityCreator (SdfEntityCreator &&_creator) noexcept
	Move constructor.

	~SdfEntityCreator ()
	Destructor.

Entity	CreateEntities (const sdf::Actor *_actor)
	Create all entities that exist in the sdf::Actor object and load their plugins.

Entity	CreateEntities (const sdf::Collision *_collision)
	Create all entities that exist in the sdf::Collision object and load their plugins.

Entity	CreateEntities (const sdf::Joint *_joint)
	Create all entities that exist in the sdf::Joint object and load their plugins.

Entity	CreateEntities (const sdf::Joint *_joint, bool _resolved)
	Create all entities that exist in the sdf::Joint object and load their plugins.

Entity	CreateEntities (const sdf::Light *_light)
	Create all entities that exist in the sdf::Light object and load their plugins.

Entity	CreateEntities (const sdf::Link *_link)
	Create all entities that exist in the sdf::Link object and load their plugins.

Entity	CreateEntities (const sdf::Model *_model)
	Create all entities that exist in the sdf::Model object and load their plugins. Also loads plugins of child sensors.

Entity	CreateEntities (const sdf::ParticleEmitter *_emitter)
	Create all entities that exist in the sdf::ParticleEmitter object.

Entity	CreateEntities (const sdf::Projector *_projector)
	Create all entities that exist in the sdf::Projector object.

Entity	CreateEntities (const sdf::Sensor *_sensor)
	Create all entities that exist in the sdf::Sensor object. Sensor plugins won't be directly loaded by this function.

Entity	CreateEntities (const sdf::Visual *_visual)
	Create all entities that exist in the sdf::Visual object and load their plugins.

Entity	CreateEntities (const sdf::World *_world)
	Create all entities that exist in the sdf::World object and load their plugins.

void	CreateEntities (const sdf::World *_world, Entity _worldEntity)
	Create all entities that exist in the sdf::World object and load their plugins.

SdfEntityCreator &	operator= (const SdfEntityCreator &_creator)
	Copy assignment operator.

SdfEntityCreator &	operator= (SdfEntityCreator &&_creator) noexcept
	Move assignment operator.

void	RequestRemoveEntity (const Entity _entity, bool _recursive=true)
	Request an entity deletion. This will insert the request into a queue. The queue is processed toward the end of a simulation update step.

void	SetParent (Entity _child, Entity _parent)
	Set an entity's parent entity. This function takes care of updating the `EntityComponentManager` and necessary components.

Detailed Description

Provides convenient functions to spawn entities and load their plugins from SDF elements, to remove them, and to change their hierarchy.

gz/sim/SdfEntityCreator.hh

This class provides wrappers around entities and components which are more convenient and straight-forward to use than dealing with the EntityComponentManager directly.

Constructor & Destructor Documentation

◆ SdfEntityCreator() [1/3]

SdfEntityCreator	(	EntityComponentManager &	_ecm,
		EventManager &	_eventManager
	)

explicit

Constructor.

Parameters

[in]	_ecm	Entity component manager. This class keeps a pointer to it, but doesn't assume ownership.
[in]	_eventManager	Event manager. This class keeps a pointer to it, but doesn't assume ownership.

◆ SdfEntityCreator() [2/3]

SdfEntityCreator ( const SdfEntityCreator & _creator )

Copy constructor.

Parameters

[in] _creator SdfEntityCreator to copy.

◆ SdfEntityCreator() [3/3]

SdfEntityCreator ( SdfEntityCreator && _creator )

noexcept

Move constructor.

Parameters

[in] _creator SdfEntityCreator to move.

◆ ~SdfEntityCreator()

~SdfEntityCreator ( )

Destructor.

Member Function Documentation

◆ CreateEntities() [1/13]

Entity CreateEntities ( const sdf::Actor * _actor )

Create all entities that exist in the sdf::Actor object and load their plugins.

Parameters

[in] _actor SDF actor object.

Returns: Actor entity.

◆ CreateEntities() [2/13]

Entity CreateEntities ( const sdf::Collision * _collision )

Create all entities that exist in the sdf::Collision object and load their plugins.

Parameters

[in] _collision SDF collision object.

Returns: Collision entity.

◆ CreateEntities() [3/13]

Entity CreateEntities ( const sdf::Joint * _joint )

Create all entities that exist in the sdf::Joint object and load their plugins.

Parameters

[in] _joint SDF joint object.

Returns: Joint entity.

◆ CreateEntities() [4/13]

Entity CreateEntities	(	const sdf::Joint *	_joint,
		bool	_resolved
	)

Create all entities that exist in the sdf::Joint object and load their plugins.

Parameters

[in]	_joint	SDF joint object.
[in]	_resolved	True if all frames are already resolved

Returns: Joint entity.

◆ CreateEntities() [5/13]

Entity CreateEntities ( const sdf::Light * _light )

Create all entities that exist in the sdf::Light object and load their plugins.

Parameters

[in] _light SDF light object.

Returns: Light entity.

◆ CreateEntities() [6/13]

Entity CreateEntities ( const sdf::Link * _link )

Create all entities that exist in the sdf::Link object and load their plugins.

Parameters

[in] _link SDF link object.

Returns: Link entity.

◆ CreateEntities() [7/13]

Entity CreateEntities ( const sdf::Model * _model )

Create all entities that exist in the sdf::Model object and load their plugins. Also loads plugins of child sensors.

Parameters

[in] _model SDF model object.

Returns: Model entity.

◆ CreateEntities() [8/13]

Entity CreateEntities ( const sdf::ParticleEmitter * _emitter )

Create all entities that exist in the sdf::ParticleEmitter object.

Parameters

[in] _emitter SDF ParticleEmitter object.

Returns: ParticleEmitter entity.

See also: CreateEntities(const sdf::Link *)

◆ CreateEntities() [9/13]

Entity CreateEntities ( const sdf::Projector * _projector )

Create all entities that exist in the sdf::Projector object.

Parameters

[in] _projector SDF Projector object.

Returns: Projector entity.

◆ CreateEntities() [10/13]

Entity CreateEntities ( const sdf::Sensor * _sensor )

Create all entities that exist in the sdf::Sensor object. Sensor plugins won't be directly loaded by this function.

Parameters

[in] _sensor SDF sensor object.

Returns: Sensor entity.

See also: CreateEntities(const sdf::Model *)

◆ CreateEntities() [11/13]

Entity CreateEntities ( const sdf::Visual * _visual )

Create all entities that exist in the sdf::Visual object and load their plugins.

Parameters

[in] _visual SDF visual object.

Returns: Visual entity.

◆ CreateEntities() [12/13]

Entity CreateEntities ( const sdf::World * _world )

Create all entities that exist in the sdf::World object and load their plugins.

Parameters

[in] _world SDF world object.

Returns: World entity.

◆ CreateEntities() [13/13]

void CreateEntities	(	const sdf::World *	_world,
		Entity	_worldEntity
	)

Create all entities that exist in the sdf::World object and load their plugins.

Parameters

[in]	_world	SDF world object.
[in]	_worldEntity	The world entity object.

◆ operator=() [1/2]

SdfEntityCreator & operator= ( const SdfEntityCreator & _creator )

Copy assignment operator.

Parameters

[in] _creator SdfEntityCreator to copy.

Returns: Reference to this.

◆ operator=() [2/2]

SdfEntityCreator & operator= ( SdfEntityCreator && _creator )

noexcept

Move assignment operator.

Parameters

[in] _creator SdfEntityCreator component to move.

Returns: Reference to this.

◆ RequestRemoveEntity()

void RequestRemoveEntity	(	const Entity	_entity,
		bool	_recursive = `true`
	)

Request an entity deletion. This will insert the request into a queue. The queue is processed toward the end of a simulation update step.

Parameters

[in]	_entity	Entity to be removed.
[in]	_recursive	Whether to recursively delete all child entities. True by default.

◆ SetParent()

void SetParent	(	Entity	_child,
		Entity	_parent
	)

Set an entity's parent entity. This function takes care of updating the EntityComponentManager and necessary components.

Parameters

[in]	_child	Entity which should be parented.
[in]	_parent	Entity which should be _child's parent.

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

SdfEntityCreator.hh

Gazebo Sim

API Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ SdfEntityCreator() [1/3]

◆ SdfEntityCreator() [2/3]

◆ SdfEntityCreator() [3/3]

◆ ~SdfEntityCreator()

Member Function Documentation

◆ CreateEntities() [1/13]

◆ CreateEntities() [2/13]

◆ CreateEntities() [3/13]

◆ CreateEntities() [4/13]

◆ CreateEntities() [5/13]

◆ CreateEntities() [6/13]

◆ CreateEntities() [7/13]

◆ CreateEntities() [8/13]

◆ CreateEntities() [9/13]

◆ CreateEntities() [10/13]

◆ CreateEntities() [11/13]

◆ CreateEntities() [12/13]

◆ CreateEntities() [13/13]

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ RequestRemoveEntity()

◆ SetParent()