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...

#include <gz/sim/World.hh>

Public Member Functions
	World (const World &_world)
	Copy constructor.

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

	World (World &&_world) noexcept
	Move constructor.

virtual	~World ()
	Destructor.

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

uint64_t	ActorCount (const EntityComponentManager &_ecm) const
	Get the number of actors which are immediate children of this world.

std::vector< sim::Entity >	Actors (const EntityComponentManager &_ecm) const
	Get all actors which are immediate children of this world.

std::optional< sdf::Atmosphere >	Atmosphere (const EntityComponentManager &_ecm) const
	Get atmosphere information.

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

std::optional< math::Vector3d >	Gravity (const EntityComponentManager &_ecm) const
	Get the gravity in m/s^2.

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

uint64_t	LightCount (const EntityComponentManager &_ecm) const
	Get the number of lights which are immediate children of this world.

std::vector< sim::Entity >	Lights (const EntityComponentManager &_ecm) const
	Get all lights which are immediate children of this world.

std::optional< math::Vector3d >	MagneticField (const EntityComponentManager &_ecm) const
	Get the magnetic field in Tesla.

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

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

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

std::optional< std::string >	Name (const EntityComponentManager &_ecm) const
	Get the world's unscoped name.

World &	operator= (const World &_world)
	Copy assignment operator.

World &	operator= (World &&_world) noexcept
	Move assignment operator.

void	SetSphericalCoordinates (EntityComponentManager &_ecm, const math::SphericalCoordinates &_sphericalCoordinates)
	Set spherical coordinates for the world origin.

std::optional< math::SphericalCoordinates >	SphericalCoordinates (const EntityComponentManager &_ecm) const
	Get spherical coordinates for the world origin.

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

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 world entity.

For example, given a world'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:

World world(entity); std::string name = world.Name(ecm);

Constructor & Destructor Documentation

◆ World() [1/3]

World ( sim::Entity _entity = kNullEntity )

explicit

Constructor.

Parameters

[in] _entity World entity

◆ World() [2/3]

World ( const World & _world )

Copy constructor.

Parameters

[in] _world World to copy.

◆ World() [3/3]

World ( World && _world )

noexcept

Move constructor.

Parameters

[in] _world World to move.

◆ ~World()

virtual ~World ( )

virtual

Destructor.

Member Function Documentation

◆ ActorByName()

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

Get the ID of a actor entity which is an immediate child of this world.

Parameters

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

Returns: Actor entity.

◆ ActorCount()

uint64_t ActorCount ( const EntityComponentManager & _ecm ) const

Get the number of actors which are immediate children of this world.

Parameters

[in] _ecm Entity-component manager.

Returns: Number of actors in this world.

◆ Actors()

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

Get all actors which are immediate children of this world.

Parameters

[in] _ecm Entity-component manager.

Returns: All actors in this world.

◆ Atmosphere()

std::optional< sdf::Atmosphere > Atmosphere ( const EntityComponentManager & _ecm ) const

Get atmosphere information.

Parameters

[in] _ecm Entity-component manager.

Returns: Atmosphere or nullopt if the entity does not have a components::Atmosphere component.

◆ Entity()

sim::Entity Entity ( ) const

Get the entity which this World is related to.

Returns: World entity.

◆ Gravity()

std::optional< math::Vector3d > Gravity ( const EntityComponentManager & _ecm ) const

Get the gravity in m/s^2.

Parameters

[in] _ecm Entity-component manager.

Returns: Gravity vector or nullopt if the entity does not have a components::Gravity component.

◆ LightByName()

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

Get the ID of a light entity which is an immediate child of this world.

Parameters

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

Returns: Light entity.

◆ LightCount()

uint64_t LightCount ( const EntityComponentManager & _ecm ) const

Get the number of lights which are immediate children of this world.

Parameters

[in] _ecm Entity-component manager.

Returns: Number of lights in this world.

◆ Lights()

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

Get all lights which are immediate children of this world.

Parameters

[in] _ecm Entity-component manager.

Returns: All lights in this world.

◆ MagneticField()

std::optional< math::Vector3d > MagneticField ( const EntityComponentManager & _ecm ) const

Get the magnetic field in Tesla.

Parameters

[in] _ecm Entity-component manager.

Returns: Magnetic field vector or nullopt if the entity does not have a components::MagneticField component.

◆ ModelByName()

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

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

Parameters

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

Returns: Model entity.

◆ ModelCount()

uint64_t ModelCount ( const EntityComponentManager & _ecm ) const

Get the number of models which are immediate children of this world.

Parameters

[in] _ecm Entity-component manager.

Returns: Number of models in this world.

◆ Models()

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

Get all models which are immediate children of this world.

Parameters

[in] _ecm Entity-component manager.

Returns: All models in this world.

◆ Name()

std::optional< std::string > Name ( const EntityComponentManager & _ecm ) const

Get the world's unscoped name.

Parameters

[in] _ecm Entity-component manager.

Returns: World's name or nullopt if the entity does not have a components::Name component

◆ operator=() [1/2]

World & operator= ( const World & _world )

Copy assignment operator.

Parameters

[in] _world World to copy.

Returns: Reference to this.

◆ operator=() [2/2]

World & operator= ( World && _world )

noexcept

Move assignment operator.

Parameters

[in] _world World component to move.

Returns: Reference to this.

◆ SetSphericalCoordinates()

void SetSphericalCoordinates	(	EntityComponentManager &	_ecm,
		const math::SphericalCoordinates &	_sphericalCoordinates
	)

Set spherical coordinates for the world origin.

Parameters

[in]	_ecm	Entity-component manager.
[in]	_sphericalCoordinates	New spherical coordinates.

◆ SphericalCoordinates()

std::optional< math::SphericalCoordinates > SphericalCoordinates ( const EntityComponentManager & _ecm ) const

Get spherical coordinates for the world origin.

Parameters

[in] _ecm Entity-component manager.

Returns: Spherical coordinates or nullopt if the entity does not have a components::SphericalCoordinates component.

◆ Valid()

bool Valid ( const EntityComponentManager & _ecm ) const

Check whether this world correctly refers to an entity that has a components::World.

Parameters

[in] _ecm Entity-component manager.

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

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

World.hh

Gazebo Sim

API Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ World() [1/3]

◆ World() [2/3]

◆ World() [3/3]

◆ ~World()

Member Function Documentation

◆ ActorByName()

◆ ActorCount()

◆ Actors()

◆ Atmosphere()

◆ Entity()

◆ Gravity()

◆ LightByName()

◆ LightCount()

◆ Lights()

◆ MagneticField()

◆ ModelByName()

◆ ModelCount()

◆ Models()

◆ Name()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ SetSphericalCoordinates()

◆ SphericalCoordinates()

◆ Valid()