#include <EntityFeatureMap.hh>

Public Types
template<typename T >
using	HasFeatureList = std::disjunction< std::is_same< T, OptionalFeatureLists >... >
	Checks whether type T is in the OptionalFeatureLists.

template<typename T >
using	PhysicsEntityPtr = physics::EntityPtr< PhysicsEntityT< PolicyT, T > >
	Template that's preset with the class's Policy type.

using	RequiredEntityPtr = PhysicsEntityPtr< RequiredFeatureList >
	A EntityPtr with made from RequiredFeatureList.

Public Member Functions
void	AddEntity (const Entity &_entity, const RequiredEntityPtr &_physicsEntity)
	Add a mapping between gazebo and physics entities.

template<typename ToFeatureList >
PhysicsEntityPtr< ToFeatureList >	EntityCast (const RequiredEntityPtr &_physicsEntity) const
	Helper function to cast from an entity type with minimum features to an entity with a different set of features. This overload takes a physics entity as input.

template<typename ToFeatureList >
PhysicsEntityPtr< ToFeatureList >	EntityCast (sim::Entity _entity) const
	Helper function to cast from an entity type with minimum features to an entity with a different set of features. When the entity is cast successfully, it is added to an internal cache so that subsequent casts will use the entity from the cache.

RequiredEntityPtr	Get (const Entity &_entity) const
	Get the physics entity with required features that corresponds to the input Gazebo entity.

Entity	Get (const RequiredEntityPtr &_physEntity) const
	Get Gazebo entity that corresponds to the physics entity with required features.

Entity	GetByPhysicsId (std::size_t _id) const
	Get Gazebo entity that corresponds to the physics entity ID.

RequiredEntityPtr	GetPhysicsEntityPtr (std::size_t _id) const
	Get the physics entity with required features that has a particular ID.

bool	HasEntity (const Entity &_entity) const
	Check whether there is a physics entity associated with the given Gazebo entity.

bool	HasEntity (const RequiredEntityPtr &_physicsEntity) const
	Check whether there is a gazebo entity associated with the given physics entity.

const std::unordered_map< Entity, RequiredEntityPtr > &	Map () const
	Get the map from Gazebo entity to physics entities with required features.

bool	Remove (const RequiredEntityPtr &_physicsEntity)
	Remove physics entity from all associated maps.

bool	Remove (Entity _entity)
	Remove entity from all associated maps.

std::size_t	TotalMapEntryCount () const
	Get the total number of entries in the maps. Only used for testing.

Member Typedef Documentation

◆ HasFeatureList

template<template< typename, typename > class PhysicsEntityT, typename PolicyT , typename RequiredFeatureList , typename... OptionalFeatureLists>

template<typename T >

using HasFeatureList = std::disjunction<std::is_same<T, OptionalFeatureLists>...>

Checks whether type T is in the OptionalFeatureLists.

Template Parameters

T	A FeatureList to search for in OptionalFeatureLists

◆ PhysicsEntityPtr

template<template< typename, typename > class PhysicsEntityT, typename PolicyT , typename RequiredFeatureList , typename... OptionalFeatureLists>

template<typename T >

using PhysicsEntityPtr = physics::EntityPtr<PhysicsEntityT<PolicyT, T> >

Template that's preset with the class's Policy type.

Template Parameters

T	A FeatureList that is used in creating an EntityPtr

◆ RequiredEntityPtr

template<template< typename, typename > class PhysicsEntityT, typename PolicyT , typename RequiredFeatureList , typename... OptionalFeatureLists>

using RequiredEntityPtr = PhysicsEntityPtr<RequiredFeatureList>

A EntityPtr with made from RequiredFeatureList.

Member Function Documentation

◆ AddEntity()

template<template< typename, typename > class PhysicsEntityT, typename PolicyT , typename RequiredFeatureList , typename... OptionalFeatureLists>

void AddEntity	(	const Entity &	_entity,
		const RequiredEntityPtr &	_physicsEntity
	)

inline

Add a mapping between gazebo and physics entities.

Parameters

[in]	_entity	Gazebo entity.
[in]	_physicsEntity	Physics entity with required feature

◆ EntityCast() [1/2]

template<template< typename, typename > class PhysicsEntityT, typename PolicyT , typename RequiredFeatureList , typename... OptionalFeatureLists>

template<typename ToFeatureList >

PhysicsEntityPtr< ToFeatureList > EntityCast ( const RequiredEntityPtr & _physicsEntity ) const

inline

Helper function to cast from an entity type with minimum features to an entity with a different set of features. This overload takes a physics entity as input.

Template Parameters

ToFeatureList The list of features of the resulting entity.

Parameters

[in] _physicsEntity Physics entity with required features.

Returns: Physics entity with features in ToFeatureList. nullptr if the entity can't be found or the physics engine doesn't support the requested feature.

References EntityFeatureMap< PhysicsEntityT, PolicyT, RequiredFeatureList, OptionalFeatureLists >::Get(), and gz::sim::kNullEntity.

◆ EntityCast() [2/2]

template<template< typename, typename > class PhysicsEntityT, typename PolicyT , typename RequiredFeatureList , typename... OptionalFeatureLists>

template<typename ToFeatureList >

PhysicsEntityPtr< ToFeatureList > EntityCast ( sim::Entity _entity ) const

inline

Helper function to cast from an entity type with minimum features to an entity with a different set of features. When the entity is cast successfully, it is added to an internal cache so that subsequent casts will use the entity from the cache.

Template Parameters

ToFeatureList The list of features of the resulting entity.

Parameters

[in] _entity Gazebo entity.

Returns: Physics entity with features in ToFeatureList. nullptr if the entity can't be found or the physics engine doesn't support the requested feature.

References RequestFeatures< typename ToFeatureList >::From(), and EntityFeatureMap< PhysicsEntityT, PolicyT, RequiredFeatureList, OptionalFeatureLists >::Get().

◆ Get() [1/2]

template<template< typename, typename > class PhysicsEntityT, typename PolicyT , typename RequiredFeatureList , typename... OptionalFeatureLists>

RequiredEntityPtr Get ( const Entity & _entity ) const

inline

Get the physics entity with required features that corresponds to the input Gazebo entity.

Parameters

[in] _entity Gazebo entity.

Returns: If found, returns the corresponding physics entity. Otherwise, nullptr

Referenced by EntityFeatureMap< PhysicsEntityT, PolicyT, RequiredFeatureList, OptionalFeatureLists >::EntityCast(), and EntityFeatureMap< PhysicsEntityT, PolicyT, RequiredFeatureList, OptionalFeatureLists >::EntityCast().

◆ Get() [2/2]

template<template< typename, typename > class PhysicsEntityT, typename PolicyT , typename RequiredFeatureList , typename... OptionalFeatureLists>

Entity Get ( const RequiredEntityPtr & _physEntity ) const

inline

Get Gazebo entity that corresponds to the physics entity with required features.

Parameters

[in] _physEntity Physics entity with required features

Returns: If found, returns the corresponding Gazebo entity. Otherwise, kNullEntity

References gz::sim::kNullEntity.

◆ GetByPhysicsId()

template<template< typename, typename > class PhysicsEntityT, typename PolicyT , typename RequiredFeatureList , typename... OptionalFeatureLists>

Entity GetByPhysicsId ( std::size_t _id ) const

inline

Get Gazebo entity that corresponds to the physics entity ID.

Parameters

[in] _id Physics entity ID

Returns: If found, returns the corresponding Gazebo entity. Otherwise, kNullEntity

References unordered_map< K, T >::end(), unordered_map< K, T >::find(), and gz::sim::kNullEntity.

◆ GetPhysicsEntityPtr()

template<template< typename, typename > class PhysicsEntityT, typename PolicyT , typename RequiredFeatureList , typename... OptionalFeatureLists>

RequiredEntityPtr GetPhysicsEntityPtr ( std::size_t _id ) const

inline

Get the physics entity with required features that has a particular ID.

Parameters

[in] _id The ID of the desired physics entity

Returns: If found, returns the corresponding physics entity. Otherwise, nullptr

◆ HasEntity() [1/2]

template<template< typename, typename > class PhysicsEntityT, typename PolicyT , typename RequiredFeatureList , typename... OptionalFeatureLists>

bool HasEntity ( const Entity & _entity ) const

inline

Check whether there is a physics entity associated with the given Gazebo entity.

Parameters

[in] _entity Gazebo entity.

Returns: True if the there is a physics entity associated with the given Gazebo entity

◆ HasEntity() [2/2]

template<template< typename, typename > class PhysicsEntityT, typename PolicyT , typename RequiredFeatureList , typename... OptionalFeatureLists>

bool HasEntity ( const RequiredEntityPtr & _physicsEntity ) const

inline

Check whether there is a gazebo entity associated with the given physics entity.

Parameters

[in] _physicsEntity physics entity with required features.

Returns: True if the there is a gazebo entity associated with the given physics entity

◆ Map()

template<template< typename, typename > class PhysicsEntityT, typename PolicyT , typename RequiredFeatureList , typename... OptionalFeatureLists>

const std::unordered_map< Entity, RequiredEntityPtr > & Map ( ) const

inline

Get the map from Gazebo entity to physics entities with required features.

Returns: Immumtable entity map

◆ Remove() [1/2]

template<template< typename, typename > class PhysicsEntityT, typename PolicyT , typename RequiredFeatureList , typename... OptionalFeatureLists>

bool Remove ( const RequiredEntityPtr & _physicsEntity )

inline

Remove physics entity from all associated maps.

Parameters

[in] _physicsEntity Physics entity.

Returns: True if the entity was found and removed.

References unordered_map< K, T >::erase().

◆ Remove() [2/2]

template<template< typename, typename > class PhysicsEntityT, typename PolicyT , typename RequiredFeatureList , typename... OptionalFeatureLists>

bool Remove ( Entity _entity )

inline

Remove entity from all associated maps.

Parameters

[in] _entity Gazebo entity.

Returns: True if the entity was found and removed.

References unordered_map< K, T >::erase().

◆ TotalMapEntryCount()

template<template< typename, typename > class PhysicsEntityT, typename PolicyT , typename RequiredFeatureList , typename... OptionalFeatureLists>

std::size_t TotalMapEntryCount ( ) const

inline

Get the total number of entries in the maps. Only used for testing.

Returns: Number of entries in all the maps.

References unordered_map< K, T >::size().

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

EntityFeatureMap.hh

Gazebo Sim

API Reference

Public Types

Public Member Functions

Member Typedef Documentation

◆ HasFeatureList

◆ PhysicsEntityPtr

◆ RequiredEntityPtr

Member Function Documentation

◆ AddEntity()

◆ EntityCast() [1/2]

◆ EntityCast() [2/2]

◆ Get() [1/2]

◆ Get() [2/2]

◆ GetByPhysicsId()

◆ GetPhysicsEntityPtr()

◆ HasEntity() [1/2]

◆ HasEntity() [2/2]

◆ Map()

◆ Remove() [1/2]

◆ Remove() [2/2]

◆ TotalMapEntryCount()