Gazebo is a leading open source robotics simulator, that provides high fidelity physics, rendering, and sensor simulation. More...

Namespaces
namespace	comms

namespace	components
	Components represent data, such as position information. An Entity usually has one or more associated components.

namespace	events
	Namespace for all events. Refer to the EventManager class for more information about events.

namespace	gui

namespace	GZ_SIM_VERSION_NAMESPACE

namespace	inspector

namespace	logical_audio

namespace	serializers
	A Serializer class is used to serialize and deserialize a component. It is passed in as the third template parameter to components::Component. Eg.

namespace	systems
	Namespace for all System plugins. Refer to the System class for more information about systems.

namespace	traits

Classes
class	Actor
	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 actor entity. More...

class	AirPressure
	A class that handles air pressure changes. More...

class	AlignTool
	Provides buttons for the align tool. More...

class	Altimeter
	A class that handles altimeter changes. More...

class	AnimationUpdateData
	Data structure for updating skeleton animations. More...

class	ApplyForceTorque
	Publish wrench to "/world/<world_name>/wrench" topic. Automatically loads the ApplyLinkWrench system. More...

class	BananaForScale
	Provides buttons for adding a banana for scale. More...

class	CopyPaste
	Plugin for copying/pasting entities in the GUI. More...

struct	Display
	Data used by the `DisplayData()` function to filter and sort the resources to be displayed. More...

class	EntityComponentManager
	The EntityComponentManager constructs, deletes, and returns components and entities. A component can be of any class which inherits from `components::BaseComponent`. More...

class	EntityContextMenu
	This plugin is in charge of showing the entity context menu when the right button is clicked on a visual. More...

class	EntityContextMenuHandler

class	EntityContextMenuItem
	A QQUickItem that manages the render window. More...

class	EntityTree
	Displays a tree view with all the entities in the world. More...

class	EnvironmentalSensorSystem
	Sensor for reading environmental data loaded from outside world. To use, add this system to the world file, then instantiate sensors of custom type with gz:type="environmental_sensor/{field_name}", where field_name refers to the type of data you would like to output. Alternatively, if you would like to specify a custom field name you may do so using the <environment_variable> tag. More...

class	EnvironmentLoader
	A GUI plugin for a user to load an Environment component into the ECM on a live simulation. More...

class	EnvironmentVisualization
	A GUI plugin for a user to load an Environment component into the ECM on a live simulation. More...

class	EnvironmentVisualizationTool
	This class helps handle point cloud visuallizations of environment data. More...

class	EventManager
	The EventManager is used to send/receive notifications of simulator events. More...

class	GlobalIlluminationCiVct
	Enable and configure Global Illumination using CIVCT (Cascaded Image Voxel Cone Tracing) More...

class	GlobalIlluminationVct
	Enable and configure Global Illumination using VCT (Voxel Cone Tracing) More...

class	GuiSystem
	Base class for a GUI System. More...

class	GzSceneManager
	Updates a 3D scene based on information coming from the ECM. This plugin doesn't instantiate a new 3D scene. Instead, it relies on another plugin being loaded alongside it that will create and paint the scene to the window, such as `gz::gui::plugins::MinimalScene`. More...

class	GzSimPlugin
	GzSim QML Plugin that registers C++ class so that they are accessible from QML. More...

class	Imu
	A class that handles IMU sensor changes. More...

class	ISystemConfigure
	Interface for a system that implements optional configuration. More...

class	ISystemConfigureParameters
	Interface for a system that declares parameters. More...

class	ISystemConfigurePriority

class	ISystemPostUpdate
	Interface for a system that uses the PostUpdate phase. More...

class	ISystemPreUpdate
	Interface for a system that uses the PreUpdate phase. More...

class	ISystemReset

class	ISystemUpdate
	Interface for a system that uses the Update phase. More...

class	Joint
	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 joint entity. More...

class	JointType
	A class that handles joint changes. More...

class	Lidar
	A class that handles Lidar sensor changes. More...

class	Light
	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 light entity. More...

class	Lights
	Provides buttons for adding a point, directional, or spot light to the scene. More...

class	Link
	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 link entity. More...

class	Magnetometer
	A class that handles magnetometer changes. More...

class	MarkerManager
	Creates, deletes, and maintains marker visuals. Only the Scene class should instantiate and use this class. More...

class	Model
	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...

class	ModelEditor
	Model Editor. More...

class	MouseDrag
	Translate and rotate links by dragging them with the mouse. Automatically loads the ApplyLinkWrench system. More...

class	PathModel
	Provides a model by which the resource spawner qml plugin pulls and updates from. More...

class	PlaybackScrubber
	Provides slider and functionality for log playback. to the scene. More...

class	PlotComponent
	A container of the component data that keeps track of the registered attributes and update their values and their registered charts. More...

class	Plotting
	Physics data plotting handler that keeps track of the registered components, update them and update the plot. More...

class	Pose3d
	A class that handles Pose3d changes. More...

class	RenderUtil

struct	Resource
	Resource used to update the ResourceModel. More...

class	ResourceModel
	Provides a model by which the resource spawner qml plugin pulls and updates from. More...

class	ResourceSpawner
	Provides interface for communicating to backend for generation of local models. More...

class	SceneManager
	Scene manager class for loading and managing objects in the scene. More...

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

class	Sensor
	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 sensor entity. More...

class	Server
	The server instantiates and controls simulation. More...

class	ServerConfig
	Configuration parameters for a Server. An instance of this object can be used to construct a Server with a particular configuration. More...

class	Shapes
	Provides buttons for adding a box, sphere, or cylinder to the scene. More...

class	Spawn
	Allows to spawn models and lights using the spawn gui events or drag and drop. More...

class	System
	Base class for a System. More...

class	SystemLoader
	Class for loading/unloading System plugins. More...

class	TestFixture
	Helper class to write automated tests. It provides a convenient API to load a world file, step simulation and check entities and components. More...

class	TransformControl
	Provides buttons for translation, rotation, and scale. More...

class	TreeModel
	TODO. More...

struct	UpdateInfo
	Information passed to systems on the update callback. More...

class	VideoRecorder
	Provides video recording cababilities to the 3D scene. More...

class	ViewAngle
	Provides buttons for viewing angles. More...

class	VisualizationCapabilities
	Allows to visualize transparent, collisions, inertial, CoM and more. More...

class	VisualizeContacts
	Visualize the contacts returned by the Physics plugin. Use the checkbox to turn visualization on or off and spin boxes to change the size of the markers. More...

class	VisualizeLidar
	Visualize the LaserScan message returned by the sensors. Use the checkbox to turn visualization of non-hitting rays on or off and the textfield to select the message to be visualised. The combobox is used to select the type of visual for the sensor data. More...

class	World
	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...

Typedefs
using	ComponentCreator = std::function< void(EntityComponentManager &, Entity, QStandardItem *)>

using	ComponentTypeId = uint64_t
	A unique identifier for a component type. A component type must be derived from `components::BaseComponent` and can contain plain data or something more complex like `gz::math::Pose3d`.

using	Entity = uint64_t
	An Entity identifies a single object in simulation such as a model, link, or light. At its core, an Entity is just an identifier.

using	EntityGraph = math::graph::DirectedGraph< Entity, bool >
	Type alias for the graph that holds entities. Each vertex is an entity, and the direction points from the parent to its children. All edges are positive booleans.

using	EntityQueryCallback = std::function< void(const UpdateInfo, EntityComponentManager &)>
	typedef for query callbacks

using	SystemPluginPtr = gz::plugin::SpecializedPluginPtr< System, ISystemConfigure, ISystemPreUpdate, ISystemUpdate, ISystemPostUpdate >

using	UpdateCallback = std::function< void(EntityComponentManager &)>
	UpdateCallback is a function defition that is used by a component to manage ECM changes.

Enumerations
enum class	AlignAxis { ALIGN_X = 0 , ALIGN_Y = 1 , ALIGN_Z = 2 }
	Enumeration of the axes to be aligned relative to. More...

enum class	AlignConfig { ALIGN_MIN , ALIGN_MID , ALIGN_MAX }

enum class	AlignState { HOVER = 0 , RESET = 1 , ALIGN = 2 , NONE = 3 }
	Enumeration of the states within the Align Tool. More...

enum class	ComponentState { NoChange = 0 , PeriodicChange = 1 , OneTimeChange = 2 }
	Possible states for a component. More...

enum class	PrimitiveLight { kDirectional , kPoint , kSpot }
	Enumeration of available primitive light types. More...

enum class	PrimitiveShape { kBox , kCapsule , kCone , kCylinder , kEllipsoid , kSphere }
	Enumeration of available primitive shape types. More...

enum	TransformType { ADD_VELOCITY_LOCAL , ADD_VELOCITY_GLOBAL , LOCAL , GLOBAL }
	Transform Type. More...

Functions
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.

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.

template<class Out >
Out	convert (const math::AxisAlignedBox &_in)
	Generic conversion from axis aligned box object to another type.

template<>
msgs::AxisAlignedBox	convert (const math::AxisAlignedBox &_in)
	Specialized conversion from a math axis aligned box object to an axis aligned box message.

template<class Out >
Out	convert (const math::Inertiald &_in)
	Generic conversion from a math inertial to another type.

template<>
msgs::Inertial	convert (const math::Inertiald &_in)
	Specialized conversion from a math inertial to an inertial message.

template<class Out >
Out	convert (const msgs::Actor &_in)
	Generic conversion from an actor message to another type.

template<>
sdf::Actor	convert (const msgs::Actor &_in)
	Specialized conversion from an actor message to an actor SDF object.

template<class Out >
Out	convert (const msgs::Atmosphere &_in)
	Generic conversion from an atmosphere message to another type.

template<>
sdf::Atmosphere	convert (const msgs::Atmosphere &_in)
	Specialized conversion from an atmosphere message to an atmosphere SDF object.

template<class Out >
Out	convert (const msgs::Axis &_in)
	Generic conversion from an axis message to another type.

template<>
sdf::JointAxis	convert (const msgs::Axis &_in)
	Specialized conversion from an axis message to a joint axis SDF object.

template<class Out >
Out	convert (const msgs::AxisAlignedBox &_in)
	Generic conversion from an axis aligned box message to another type.

template<>
math::AxisAlignedBox	convert (const msgs::AxisAlignedBox &_in)
	Specialized conversion from an math axis aligned box message to an axis aligned box object.

template<class Out >
Out	convert (const msgs::Collision &_in)
	Generic conversion from a collision message to another type.

template<>
sdf::Collision	convert (const msgs::Collision &_in)
	Specialized conversion from a collision message to a collision SDF object.

template<class Out >
Out	convert (const msgs::Geometry &_in)
	Generic conversion from a geometry message to another type.

template<>
sdf::Geometry	convert (const msgs::Geometry &_in)
	Specialized conversion from a geometry message to a geometry SDF object.

template<class Out >
Out	convert (const msgs::Inertial &_in)
	Generic conversion from an inertial message to another type.

template<>
math::Inertiald	convert (const msgs::Inertial &_in)
	Specialized conversion from an inertial message to an inertial math object.

template<class Out >
Out	convert (const msgs::Light &_in)
	Generic conversion from a light message to another type.

template<>
sdf::Light	convert (const msgs::Light &_in)
	Specialized conversion from a light message to a light SDF object.

template<class Out >
Out	convert (const msgs::Material &_in)
	Generic conversion from a material message to another type.

template<>
sdf::Material	convert (const msgs::Material &_in)
	Specialized conversion from a material message to a material SDF object.

template<class Out >
Out	convert (const msgs::ParticleEmitter &)
	Generic conversion from a particle emitter SDF object to another type.

template<>
sdf::ParticleEmitter	convert (const msgs::ParticleEmitter &_in)
	Specialized conversion from a particle emitter SDF object to a particle emitter message object.

template<class Out >
Out	convert (const msgs::Physics &_in)
	Generic conversion from a physics message to another type.

template<>
sdf::Physics	convert (const msgs::Physics &_in)
	Specialized conversion from a physics message to a physics SDF object.

template<class Out >
Out	convert (const msgs::Plugin &)
	Generic conversion from a msgs::Plugin to another type.

template<>
sdf::Plugin	convert (const msgs::Plugin &_in)
	Specialized conversion from a msgs::Plugin to an sdf::Plugin.

template<class Out >
Out	convert (const msgs::Plugin_V &)
	Generic conversion from a msgs::Plugin_V to another type.

template<>
sdf::Plugins	convert (const msgs::Plugin_V &_in)
	Specialized conversion from a msgs::Plugin_V to an sdf::Plugins.

template<class Out >
Out	convert (const msgs::Pose &_in)
	Generic conversion from a msgs Pose to another type.

template<>
math::Pose3d	convert (const msgs::Pose &_in)
	Specialized conversion for msgs Pose to math Pose.

template<class Out >
Out	convert (const msgs::Projector &)
	Generic conversion from a projector SDF object to another type.

template<>
sdf::Projector	convert (const msgs::Projector &_in)
	Specialized conversion from a projector SDF object to a projector message object.

template<class Out >
Out	convert (const msgs::Scene &_in)
	Generic conversion from a scene message to another type.

template<>
sdf::Scene	convert (const msgs::Scene &_in)
	Specialized conversion from a scene message to a scene SDF object.

template<class Out >
Out	convert (const msgs::Sensor &_in)
	Generic conversion from a sensor message to another type.

template<>
sdf::Sensor	convert (const msgs::Sensor &_in)
	Specialized conversion from a sensor message to a sensor SDF object.

template<class Out >
Out	convert (const msgs::SensorNoise &_in)
	Generic conversion from a sensor noise message to another type.

template<>
sdf::Noise	convert (const msgs::SensorNoise &_in)
	Specialized conversion from a sensor noise message to a noise SDF object.

template<class Out >
Out	convert (const msgs::Time &_in)
	Generic conversion from a time message to another type.

template<>
std::chrono::steady_clock::duration	convert (const msgs::Time &_in)
	Specialized conversion from a time message to a steady clock duration.

template<class Out >
Out	convert (const msgs::WorldStatistics &_in)
	Generic conversion from a world statistics message to another type.

template<>
UpdateInfo	convert (const msgs::WorldStatistics &_in)
	Specialized conversion from a world statistics message to an `UpdateInfo` object.

template<class Out >
Out	convert (const sdf::Actor &_in)
	Generic conversion from an SDF actor to another type.

template<>
msgs::Actor	convert (const sdf::Actor &_in)
	Specialized conversion from an SDF actor to an actor message.

template<class Out >
Out	convert (const sdf::Atmosphere &_in)
	Generic conversion from an SDF atmosphere to another type.

template<>
msgs::Atmosphere	convert (const sdf::Atmosphere &_in)
	Specialized conversion from an SDF atmosphere to an atmosphere message.

template<class Out >
Out	convert (const sdf::Collision &_in)
	Generic conversion from an SDF collision to another type.

template<>
msgs::Collision	convert (const sdf::Collision &_in)
	Specialized conversion from an SDF collision to a collision message.

template<class Out >
Out	convert (const sdf::Element &)
	Generic conversion from an SDF element to another type.

template<>
msgs::Plugin	convert (const sdf::Element &_in)
	Specialized conversion from an SDF element to a plugin message.

template<class Out >
Out	convert (const sdf::Geometry &_in)
	Generic conversion from an SDF geometry to another type.

template<>
msgs::Geometry	convert (const sdf::Geometry &_in)
	Specialized conversion from an SDF geometry to a geometry message.

template<class Out >
Out	convert (const sdf::Gui &_in)
	Generic conversion from an SDF gui to another type.

template<>
msgs::GUI	convert (const sdf::Gui &_in)
	Specialized conversion from an SDF gui to a gui message.

template<class Out >
Out	convert (const sdf::JointAxis &_in)
	Generic conversion from an SDF joint axis to another type.

template<>
msgs::Axis	convert (const sdf::JointAxis &_in)
	Specialized conversion from an SDF joint axis to an axis message.

template<class Out >
Out	convert (const sdf::Light &_in)
	Generic conversion from an SDF light to another type.

template<>
msgs::Light	convert (const sdf::Light &_in)
	Specialized conversion from an SDF light to a light message.

std::string	convert (const sdf::LightType &_in)
	Generic conversion from a SDF light type to string.

template<class Out >
Out	convert (const sdf::Material &_in)
	Generic conversion from an SDF material to another type.

template<>
msgs::Material	convert (const sdf::Material &_in)
	Specialized conversion from an SDF material to a material message.

template<class Out >
Out	convert (const sdf::ParticleEmitter &)
	Generic conversion from a particle emitter SDF object to another type.

template<>
msgs::ParticleEmitter	convert (const sdf::ParticleEmitter &_in)
	Specialized conversion from a particle emitter SDF object to a particle emitter message object.

template<class Out >
Out	convert (const sdf::Physics &_in)
	Generic conversion from an SDF Physics to another type.

template<>
msgs::Physics	convert (const sdf::Physics &_in)
	Specialized conversion from an SDF physics to a physics message.

template<class Out >
Out	convert (const sdf::Plugin &)
	Generic conversion from an SDF plugin to another type.

template<>
msgs::Plugin	convert (const sdf::Plugin &_in)
	Specialized conversion from an SDF plugin to a plugin message.

template<class Out >
Out	convert (const sdf::Plugins &)
	Generic conversion from an SDF plugins to another type.

template<>
msgs::Plugin_V	convert (const sdf::Plugins &_in)
	Specialized conversion from an SDF plugins to a plugin_v message.

template<class Out >
Out	convert (const sdf::Projector &)
	Generic conversion from a projector SDF object to another type.

template<>
msgs::Projector	convert (const sdf::Projector &_in)
	Specialized conversion from a projector SDF object to a projector message object.

template<class Out >
Out	convert (const sdf::Scene &_in)
	Generic conversion from an SDF scene to another type.

template<>
msgs::Scene	convert (const sdf::Scene &_in)
	Specialized conversion from an SDF scene to a scene message.

template<class Out >
Out	convert (const sdf::Sensor &_in)
	Generic conversion from an SDF Sensor to another type.

template<>
msgs::Sensor	convert (const sdf::Sensor &_in)
	Specialized conversion from an SDF sensor to a sensor message.

template<class Out >
Out	convert (const std::chrono::steady_clock::duration &_in)
	Generic conversion from a steady clock duration to another type.

template<>
msgs::Time	convert (const std::chrono::steady_clock::duration &_in)
	Specialized conversion from a steady clock duration to a time message.

sdf::LightType	convert (const std::string &_in)
	Specialized conversion from a string to a sdf light type.

template<class Out >
Out	convert (const std::string &_in)
	Generic conversion from a string to another type.

template<>
msgs::Entity_Type	convert (const std::string &_in)
	Specialized conversion from a string to an Entity_Type msg.

template<class Out >
Out	convert (const UpdateInfo &_in)
	Generic conversion from update info to another type.

template<>
msgs::WorldStatistics	convert (const UpdateInfo &_in)
	Specialized conversion from update info to a world statistics message.

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).

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:

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.

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`.

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.

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.

std::string	getGUIConfigPath ()
	getGUIConfigPath return the GUI config path

std::string	getGUIPluginInstallDir ()
	getGUIPluginInstallDir return the GUI plugin install dir

std::string	getInstallPrefix ()
	getInstallPrefix return the install prefix of the library i.e. CMAKE_INSTALL_PREFIX unless the library has been moved

std::string	getMediaInstallDir ()
	getMediaInstallDir return the media install dir

std::string	getPluginInstallDir ()
	getPluginInstallDir return the plugin install dir

std::string	getPrimitive (const std::string &_typeName)
	Return an SDF string of one of the available primitive shape or light types.

std::string	getPrimitiveLight (const PrimitiveLight &_type)
	Return an SDF string of one of the available primitive light types.

std::string	getPrimitiveShape (const PrimitiveShape &_type)
	Return an SDF string of one of the available primitive shape types.

std::string	getServerConfigPath ()
	getServerConfigPath return the server config path

std::string	getSystemConfigPath ()
	getSystemConfigPath return the system config path

std::optional< TransformType >	getTransformType (const std::string &_str)
	Given a string return the type of transform.

std::string	getWorldInstallDir ()
	getWorldInstallDir return the world install dir

const common::Mesh *	loadMesh (const sdf::Mesh &_meshSdf)
	Load a mesh from a Mesh SDF DOM.

std::list< ServerConfig::PluginInfo >	loadPluginInfo (bool _isPlayback=false)
	Load plugin information, following ordering.

const common::Mesh *	optimizeMesh (const sdf::Mesh &_meshSdf, const common::Mesh &_mesh)
	Optimize input mesh.

std::list< ServerConfig::PluginInfo >	parsePluginsFromFile (const std::string &_fname)
	Parse plugins from XML configuration file.

std::list< ServerConfig::PluginInfo >	parsePluginsFromString (const std::string &_str)
	Parse plugins from XML configuration string.

math::Vector3d	relativeVel (const Entity &_entity, const EntityComponentManager &_ecm)
	Helper function to compute world velocity of an entity.

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.

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.

std::vector< std::string >	resourcePaths ()
	Get resource paths based on latest environment variables.

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.

void	set (msgs::SensorNoise *_msg, const sdf::Noise &_sdf)
	Helper function that sets a mutable msgs::SensorNoise object to the values contained in a sdf::Noise object.

void	set (msgs::Time *_msg, const std::chrono::steady_clock::duration &_in)
	Helper function that sets a mutable msgs::Time object to the values contained in a std::chrono::steady_clock::duration object.

void	set (msgs::WorldStatistics *_msg, const UpdateInfo &_in)
	Helper function that sets a mutable msgs::WorldStatistics object to the values contained in a sim::UpdateInfo object.

void	setNoise (sdf::Noise &_noise, double _mean, double _meanBias, double _stdDev, double _stdDevBias, double _dynamicBiasStdDev, double _dynamicBiasCorrelationTime)
	Helper function that will set all noise properties.

std::optional< math::Vector3d >	sphericalCoordinates (Entity _entity, const EntityComponentManager &_ecm)
	Get the spherical coordinates for an entity.

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.

Entity	topLevelModel (const Entity &_entity, const EntityComponentManager &_ecm)
	Get the top level model of an entity.

math::Vector3d	transformFrame (const TransformType _type, const math::Pose3d &_pose, const math::Vector3d &_velocity, const math::Vector3d &_reading)
	Given a string return the type of transform.

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:

Entity	worldEntity (const Entity &_entity, const EntityComponentManager &_ecm)
	Get the world to which the given entity belongs.

Entity	worldEntity (const EntityComponentManager &_ecm)
	Get the first world entity that's found.

math::Pose3d	worldPose (const Entity &_entity, const EntityComponentManager &_ecm)
	Helper function to compute world pose of an entity.

Variables
class GZ_SIM_HIDDEN	EntityComponentManagerPrivate

class GZ_SIM_HIDDEN	EventManagerPrivate

static const ComponentTypeId	kComponentTypeIdInvalid = UINT64_MAX
	Id that indicates an invalid component type.

const Entity	kNullEntity {0}
	Indicates a non-existant or invalid Entity.

constexpr std::string_view	kPoliciesTag {"gz:policies"}

const std::string	kRenderPluginPathEnv {"GZ_SIM_RENDER_ENGINE_PATH"}
	Environment variable holding paths to custom rendering engine plugins.

const std::string	kResourcePathEnv {"GZ_SIM_RESOURCE_PATH"}
	Environment variable holding resource paths.

const std::string	kSdfPathEnv {"SDF_PATH"}
	Environment variable used by SDFormat to find URIs inside `<include>`

const std::string	kServerConfigPathEnv {"GZ_SIM_SERVER_CONFIG_PATH"}
	Environment variable holding server config paths.

class GZ_SIM_HIDDEN	LinkPrivate

class GZ_SIM_HIDDEN	ModelPrivate

class GZ_SIM_HIDDEN	SystemLoaderPrivate

class GZ_SIM_HIDDEN	WorldPrivate

Detailed Description

Gazebo is a leading open source robotics simulator, that provides high fidelity physics, rendering, and sensor simulation.

Typedef Documentation

◆ ComponentCreator

using ComponentCreator = std::function<void(EntityComponentManager &, Entity, QStandardItem *)>

ComponentCreator is a function definition that a component can use to create the appropriate UI elements for an Entity based on a ComponentTypeId.

See also: void ComponentInspectorEditor::RegisterComponentCreator( UpdateCallback _cb)

◆ ComponentTypeId

using ComponentTypeId = uint64_t

A unique identifier for a component type. A component type must be derived from components::BaseComponent and can contain plain data or something more complex like gz::math::Pose3d.

◆ Entity

using Entity = uint64_t

An Entity identifies a single object in simulation such as a model, link, or light. At its core, an Entity is just an identifier.

An Entity usually has one or more associated Components. Components represent data, such as position information.

The set of Components assigned to an Entity also act as a key. Systems process Entities based on their key. For example, a physics system may process only entities that have pose and inertia components.

An Entity that needs to be identified and used by Systems should be created through the EntityComponentManager.

◆ EntityGraph

using EntityGraph = math::graph::DirectedGraph<Entity, bool>

Type alias for the graph that holds entities. Each vertex is an entity, and the direction points from the parent to its children. All edges are positive booleans.

◆ EntityQueryCallback

using EntityQueryCallback = std::function<void (const UpdateInfo, EntityComponentManager &)>

typedef for query callbacks

◆ SystemPluginPtr

using SystemPluginPtr = gz::plugin::SpecializedPluginPtr< System, ISystemConfigure, ISystemPreUpdate, ISystemUpdate, ISystemPostUpdate >

◆ UpdateCallback

using UpdateCallback = std::function<void(EntityComponentManager &)>

UpdateCallback is a function defition that is used by a component to manage ECM changes.

See also: void ComponentInspectorEditor::AddUpdateCallback(UpdateCallback _cb)

Enumeration Type Documentation

◆ AlignAxis

enum class AlignAxis

strong

Enumeration of the axes to be aligned relative to.

Enumerator
ALIGN_X	Indicates an alignment relative to the x axis.
ALIGN_Y	Indicates an alignment relative to the y axis.
ALIGN_Z	Indicates an alignment relative to the z axis.

◆ AlignConfig

enum class AlignConfig

strong

Enumerator
ALIGN_MIN
ALIGN_MID
ALIGN_MAX

◆ AlignState

enum class AlignState

strong

Enumeration of the states within the Align Tool.

Enumerator
HOVER	Indicates the user is currently hovering the mouse over an align button.
RESET	Indicates a reset of the currently placed nodes, only occurs on a hover exit if the align button has not been clicked.
ALIGN	Indicates the user has clicked the align button.
NONE	Indicates the user is currently not utilizing the align tool.

◆ ComponentState

enum class ComponentState

strong

Possible states for a component.

Enumerator
NoChange	Component value has not changed.
PeriodicChange	Component value has changed, and is changing periodically. This indicates to systems that it is ok to drop a few samples.
OneTimeChange	Component value has suffered a one-time change. This indicates to systems that this change must be processed and can't be dropped.

◆ PrimitiveLight

enum class PrimitiveLight

strong

Enumeration of available primitive light types.

Enumerator
kDirectional
kPoint
kSpot

◆ PrimitiveShape

enum class PrimitiveShape

strong

Enumeration of available primitive shape types.

Enumerator
kBox
kCapsule
kCone
kCylinder
kEllipsoid
kSphere

◆ TransformType

enum TransformType

Transform Type.

Enumerator
ADD_VELOCITY_LOCAL	Add the sensor's velocity and retrieve the value after transforming the vector to the local frame. (Example would be for a wind speed sensor or current sensor).
ADD_VELOCITY_GLOBAL	Add the sensor's velocity and retrieve the value in a global frame. (For instance to get Airspeed in a global frame)
LOCAL	The vector doesn't change with speed but we want it in local frame. Example could be magnetic field lines in local frame.
GLOBAL	The vector doesn't change with speed but we want it in local frame. Example could be magnetic field lines in global frame.

Function Documentation

◆ addResourcePaths()

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.

Parameters

[in] _paths Optional paths to add.

◆ asFullPath()

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.

Parameters

[in]	_uri	URI, which can have a scheme, or be full or relative paths.
[in]	_filePath	The path to a file in disk.

Returns: The full path URI.

◆ convert() [1/84]

template<class Out >

Out convert ( const math::AxisAlignedBox & _in )

Generic conversion from axis aligned box object to another type.

Parameters

[in] _in Axis aligned box object.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [2/84]

template<>

msgs::AxisAlignedBox convert ( const math::AxisAlignedBox & _in )

Specialized conversion from a math axis aligned box object to an axis aligned box message.

Parameters

[in] _in Axis aligned box message

Returns: Axis aligned box message.

◆ convert() [3/84]

template<class Out >

Out convert ( const math::Inertiald & _in )

Generic conversion from a math inertial to another type.

Parameters

[in] _in Math inertial.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [4/84]

template<>

msgs::Inertial convert ( const math::Inertiald & _in )

Specialized conversion from a math inertial to an inertial message.

Parameters

[in] _in Math inertial.

Returns: Inertial message.

◆ convert() [5/84]

template<class Out >

Out convert ( const msgs::Actor & _in )

Generic conversion from an actor message to another type.

Parameters

[in] _in Actor message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [6/84]

template<>

sdf::Actor convert ( const msgs::Actor & _in )

Specialized conversion from an actor message to an actor SDF object.

Parameters

[in] _in Actor message.

Returns: Actor SDF object.

◆ convert() [7/84]

template<class Out >

Out convert ( const msgs::Atmosphere & _in )

Generic conversion from an atmosphere message to another type.

Parameters

[in] _in Atmosphere message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [8/84]

template<>

sdf::Atmosphere convert ( const msgs::Atmosphere & _in )

Specialized conversion from an atmosphere message to an atmosphere SDF object.

Parameters

[in] _in Atmosphere message.

Returns: SDF scene.

◆ convert() [9/84]

template<class Out >

Out convert ( const msgs::Axis & _in )

Generic conversion from an axis message to another type.

Parameters

[in] _in Axis message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [10/84]

template<>

sdf::JointAxis convert ( const msgs::Axis & _in )

Specialized conversion from an axis message to a joint axis SDF object.

Parameters

[in] _in Axis message.

Returns: SDF joint axis.

◆ convert() [11/84]

template<class Out >

Out convert ( const msgs::AxisAlignedBox & _in )

Generic conversion from an axis aligned box message to another type.

Parameters

[in] _in Axis aligned box message

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [12/84]

template<>

math::AxisAlignedBox convert ( const msgs::AxisAlignedBox & _in )

Specialized conversion from an math axis aligned box message to an axis aligned box object.

Parameters

[in] _in Axis aligned box object

Returns: Axis aligned box object.

◆ convert() [13/84]

template<class Out >

Out convert ( const msgs::Collision & _in )

Generic conversion from a collision message to another type.

Parameters

[in] _in Collision message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [14/84]

template<>

sdf::Collision convert ( const msgs::Collision & _in )

Specialized conversion from a collision message to a collision SDF object.

Parameters

[in] _in Collision message.

Returns: SDF collision.

◆ convert() [15/84]

template<class Out >

Out convert ( const msgs::Geometry & _in )

Generic conversion from a geometry message to another type.

Parameters

[in] _in Geometry message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [16/84]

template<>

sdf::Geometry convert ( const msgs::Geometry & _in )

Specialized conversion from a geometry message to a geometry SDF object.

Parameters

[in] _in Geometry message.

Returns: SDF geometry.

◆ convert() [17/84]

template<class Out >

Out convert ( const msgs::Inertial & _in )

Generic conversion from an inertial message to another type.

Parameters

[in] _in Inertial message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [18/84]

template<>

math::Inertiald convert ( const msgs::Inertial & _in )

Specialized conversion from an inertial message to an inertial math object.

Parameters

[in] _in Inertial message.

Returns: math inertial.

◆ convert() [19/84]

template<class Out >

Out convert ( const msgs::Light & _in )

Generic conversion from a light message to another type.

Parameters

[in] _in Light message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [20/84]

template<>

sdf::Light convert ( const msgs::Light & _in )

Specialized conversion from a light message to a light SDF object.

Parameters

[in] _in Light message.

Returns: Light SDF object.

◆ convert() [21/84]

template<class Out >

Out convert ( const msgs::Material & _in )

Generic conversion from a material message to another type.

Parameters

[in] _in Material message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [22/84]

template<>

sdf::Material convert ( const msgs::Material & _in )

Specialized conversion from a material message to a material SDF object.

Parameters

[in] _in Material message.

Returns: SDF material.

◆ convert() [23/84]

template<class Out >

Out convert ( const msgs::ParticleEmitter & )

Generic conversion from a particle emitter SDF object to another type.

Parameters

[in] _in Particle emitter SDF object.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [24/84]

template<>

sdf::ParticleEmitter convert ( const msgs::ParticleEmitter & _in )

Specialized conversion from a particle emitter SDF object to a particle emitter message object.

Parameters

[in] _in Particle emitter SDF object.

Returns: Particle emitter message.

◆ convert() [25/84]

template<class Out >

Out convert ( const msgs::Physics & _in )

Generic conversion from a physics message to another type.

Parameters

[in] _in Physics message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [26/84]

template<>

sdf::Physics convert ( const msgs::Physics & _in )

Specialized conversion from a physics message to a physics SDF object.

Parameters

[in] _in Physics message.

Returns: SDF physics.

◆ convert() [27/84]

template<class Out >

Out convert ( const msgs::Plugin & )

Generic conversion from a msgs::Plugin to another type.

Parameters

[in] _in msgs::Plugin.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [28/84]

template<>

sdf::Plugin convert ( const msgs::Plugin & _in )

Specialized conversion from a msgs::Plugin to an sdf::Plugin.

Parameters

[in] _in msgs::Plugin.

Returns: sdf::Plugin.

◆ convert() [29/84]

template<class Out >

Out convert ( const msgs::Plugin_V & )

Generic conversion from a msgs::Plugin_V to another type.

Parameters

[in] _in msgs::Plugin_V.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [30/84]

template<>

sdf::Plugins convert ( const msgs::Plugin_V & _in )

Specialized conversion from a msgs::Plugin_V to an sdf::Plugins.

Parameters

[in] _in msgs::Plugin_V.

Returns: sdf::Plugins.

◆ convert() [31/84]

template<class Out >

Out convert ( const msgs::Pose & _in )

Generic conversion from a msgs Pose to another type.

Parameters

[in] _in msgs Pose

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [32/84]

template<>

math::Pose3d convert ( const msgs::Pose & _in )

Specialized conversion for msgs Pose to math Pose.

Parameters

[in] _in msgs Pose

Returns: math Pose.

◆ convert() [33/84]

template<class Out >

Out convert ( const msgs::Projector & )

Generic conversion from a projector SDF object to another type.

Parameters

[in] _in Projector SDF object.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [34/84]

template<>

sdf::Projector convert ( const msgs::Projector & _in )

Specialized conversion from a projector SDF object to a projector message object.

Parameters

[in] _in Projecotr SDF object.

Returns: Projector message.

◆ convert() [35/84]

template<class Out >

Out convert ( const msgs::Scene & _in )

Generic conversion from a scene message to another type.

Parameters

[in] _in Scene message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [36/84]

template<>

sdf::Scene convert ( const msgs::Scene & _in )

Specialized conversion from a scene message to a scene SDF object.

Parameters

[in] _in Scene message.

Returns: SDF scene.

◆ convert() [37/84]

template<class Out >

Out convert ( const msgs::Sensor & _in )

Generic conversion from a sensor message to another type.

Parameters

[in] _in Sensor message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [38/84]

template<>

sdf::Sensor convert ( const msgs::Sensor & _in )

Specialized conversion from a sensor message to a sensor SDF object.

Parameters

[in] _in Sensor message.

Returns: SDF sensor.

◆ convert() [39/84]

template<class Out >

Out convert ( const msgs::SensorNoise & _in )

Generic conversion from a sensor noise message to another type.

Parameters

[in] _in SensorNoise message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [40/84]

template<>

sdf::Noise convert ( const msgs::SensorNoise & _in )

Specialized conversion from a sensor noise message to a noise SDF object.

Parameters

[in] _in Sensor noise message.

Returns: SDF noise.

◆ convert() [41/84]

template<class Out >

Out convert ( const msgs::Time & _in )

Generic conversion from a time message to another type.

Parameters

[in] _in Time message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [42/84]

template<>

std::chrono::steady_clock::duration convert ( const msgs::Time & _in )

Specialized conversion from a time message to a steady clock duration.

Parameters

[in] _in Time message.

Returns: Steady clock duration.

◆ convert() [43/84]

template<class Out >

Out convert ( const msgs::WorldStatistics & _in )

Generic conversion from a world statistics message to another type.

Parameters

[in] _in WorldStatistics message.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [44/84]

template<>

UpdateInfo convert ( const msgs::WorldStatistics & _in )

Specialized conversion from a world statistics message to an UpdateInfo object.

Parameters

[in] _in WorldStatistics message.

Returns: Update info.

◆ convert() [45/84]

template<class Out >

Out convert ( const sdf::Actor & _in )

Generic conversion from an SDF actor to another type.

Parameters

[in] _in SDF actor.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [46/84]

template<>

msgs::Actor convert ( const sdf::Actor & _in )

Specialized conversion from an SDF actor to an actor message.

Parameters

[in] _in SDF actor.

Returns: Actor message.

◆ convert() [47/84]

template<class Out >

Out convert ( const sdf::Atmosphere & _in )

Generic conversion from an SDF atmosphere to another type.

Parameters

[in] _in SDF atmosphere.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [48/84]

template<>

msgs::Atmosphere convert ( const sdf::Atmosphere & _in )

Specialized conversion from an SDF atmosphere to an atmosphere message.

Parameters

[in] _in SDF atmosphere.

Returns: Atmosphere message.

◆ convert() [49/84]

template<class Out >

Out convert ( const sdf::Collision & _in )

Generic conversion from an SDF collision to another type.

Parameters

[in] _in SDF collision.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [50/84]

template<>

msgs::Collision convert ( const sdf::Collision & _in )

Specialized conversion from an SDF collision to a collision message.

Parameters

[in] _in SDF collision.

Returns: Collision message.

◆ convert() [51/84]

template<class Out >

Out convert ( const sdf::Element & )

Generic conversion from an SDF element to another type.

Parameters

[in] _in SDF element.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [52/84]

template<>

msgs::Plugin convert ( const sdf::Element & _in )

Specialized conversion from an SDF element to a plugin message.

Parameters

[in] _in SDF element.

Returns: Plugin message.

◆ convert() [53/84]

template<class Out >

Out convert ( const sdf::Geometry & _in )

Generic conversion from an SDF geometry to another type.

Parameters

[in] _in SDF geometry.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [54/84]

template<>

msgs::Geometry convert ( const sdf::Geometry & _in )

Specialized conversion from an SDF geometry to a geometry message.

Parameters

[in] _in SDF geometry.

Returns: Geometry message.

◆ convert() [55/84]

template<class Out >

Out convert ( const sdf::Gui & _in )

Generic conversion from an SDF gui to another type.

Parameters

[in] _in SDF gui.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [56/84]

template<>

msgs::GUI convert ( const sdf::Gui & _in )

Specialized conversion from an SDF gui to a gui message.

Parameters

[in] _in SDF gui.

Returns: Gui message.

◆ convert() [57/84]

template<class Out >

Out convert ( const sdf::JointAxis & _in )

Generic conversion from an SDF joint axis to another type.

Parameters

[in] _in SDF joint axis.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [58/84]

template<>

msgs::Axis convert ( const sdf::JointAxis & _in )

Specialized conversion from an SDF joint axis to an axis message.

Parameters

[in] _in SDF joint axis.

Returns: Axis message.

◆ convert() [59/84]

template<class Out >

Out convert ( const sdf::Light & _in )

Generic conversion from an SDF light to another type.

Parameters

[in] _in SDF light.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [60/84]

template<>

msgs::Light convert ( const sdf::Light & _in )

Specialized conversion from an SDF light to a light message.

Parameters

[in] _in SDF light.

Returns: Light message.

◆ convert() [61/84]

std::string convert ( const sdf::LightType & _in )

Generic conversion from a SDF light type to string.

Parameters

[in] _in SDF light type.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [62/84]

template<class Out >

Out convert ( const sdf::Material & _in )

Generic conversion from an SDF material to another type.

Parameters

[in] _in SDF material.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [63/84]

template<>

msgs::Material convert ( const sdf::Material & _in )

Specialized conversion from an SDF material to a material message.

Parameters

[in] _in SDF material.

Returns: Material message.

◆ convert() [64/84]

template<class Out >

Out convert ( const sdf::ParticleEmitter & )

Generic conversion from a particle emitter SDF object to another type.

Parameters

[in] _in Particle emitter SDF object.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [65/84]

template<>

msgs::ParticleEmitter convert ( const sdf::ParticleEmitter & _in )

Specialized conversion from a particle emitter SDF object to a particle emitter message object.

Parameters

[in] _in Particle emitter SDF object.

Returns: Particle emitter message.

◆ convert() [66/84]

template<class Out >

Out convert ( const sdf::Physics & _in )

Generic conversion from an SDF Physics to another type.

Parameters

[in] _in SDF Physics.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [67/84]

template<>

msgs::Physics convert ( const sdf::Physics & _in )

Specialized conversion from an SDF physics to a physics message.

Parameters

[in] _in SDF physics.

Returns: Physics message.

◆ convert() [68/84]

template<class Out >

Out convert ( const sdf::Plugin & )

Generic conversion from an SDF plugin to another type.

Parameters

[in] _in SDF plugin.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [69/84]

template<>

msgs::Plugin convert ( const sdf::Plugin & _in )

Specialized conversion from an SDF plugin to a plugin message.

Parameters

[in] _in SDF plugin.

Returns: Plugin message.

◆ convert() [70/84]

template<class Out >

Out convert ( const sdf::Plugins & )

Generic conversion from an SDF plugins to another type.

Parameters

[in] _in SDF plugins.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [71/84]

template<>

msgs::Plugin_V convert ( const sdf::Plugins & _in )

Specialized conversion from an SDF plugins to a plugin_v message.

Parameters

[in] _in SDF plugins.

Returns: Plugin_V message.

◆ convert() [72/84]

template<class Out >

Out convert ( const sdf::Projector & )

Generic conversion from a projector SDF object to another type.

Parameters

[in] _in Projector SDF object.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [73/84]

template<>

msgs::Projector convert ( const sdf::Projector & _in )

Specialized conversion from a projector SDF object to a projector message object.

Parameters

[in] _in Projector SDF object.

Returns: Projector message.

◆ convert() [74/84]

template<class Out >

Out convert ( const sdf::Scene & _in )

Generic conversion from an SDF scene to another type.

Parameters

[in] _in SDF scene.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [75/84]

template<>

msgs::Scene convert ( const sdf::Scene & _in )

Specialized conversion from an SDF scene to a scene message.

Parameters

[in] _in SDF scene.

Returns: Scene message.

◆ convert() [76/84]

template<class Out >

Out convert ( const sdf::Sensor & _in )

Generic conversion from an SDF Sensor to another type.

Parameters

[in] _in SDF Sensor.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [77/84]

template<>

msgs::Sensor convert ( const sdf::Sensor & _in )

Specialized conversion from an SDF sensor to a sensor message.

Parameters

[in] _in SDF sensor.

Returns: Sensor message.

◆ convert() [78/84]

template<class Out >

Out convert ( const std::chrono::steady_clock::duration & _in )

Generic conversion from a steady clock duration to another type.

Parameters

[in] _in Steady clock duration.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [79/84]

template<>

msgs::Time convert ( const std::chrono::steady_clock::duration & _in )

Specialized conversion from a steady clock duration to a time message.

Parameters

[in] _in Steady clock duration.

Returns: Gazebo time message.

◆ convert() [80/84]

sdf::LightType convert ( const std::string & _in )

Specialized conversion from a string to a sdf light type.

Parameters

[in] _in String with the light type.

Returns: Light type emun SDF object.

◆ convert() [81/84]

template<class Out >

Out convert ( const std::string & _in )

Generic conversion from a string to another type.

Parameters

[in] _in string.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [82/84]

template<>

msgs::Entity_Type convert ( const std::string & _in )

Specialized conversion from a string to an Entity_Type msg.

Parameters

[in] _in string message.

Returns: Entity_Type.

◆ convert() [83/84]

template<class Out >

Out convert ( const UpdateInfo & _in )

Generic conversion from update info to another type.

Parameters

[in] _in Update info.

Returns: Conversion result.

Template Parameters

Out	Output type.

◆ convert() [84/84]

template<>

msgs::WorldStatistics convert ( const UpdateInfo & _in )

Specialized conversion from update info to a world statistics message.

Parameters

[in] _in Update info.

Returns: World statistics message.

◆ enableComponent()

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).

Parameters

[in]	_ecm	Mutable reference to the ECM
[in]	_entity	Entity whose component is being enabled
[in]	_enable	True to enable (create), false to disable (remove). Defaults to true.

Returns: True if a component was created or removed, false if nothing changed.

References EntityComponentManager::Component(), EntityComponentManager::CreateComponent(), and EntityComponentManager::RemoveComponent().

◆ entitiesFromScopedName()

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:

world_name model_name link_name

All these names will return the link entity:

world_name::model_name::link_name
model_name::link_name
link_name

Parameters

[in]	_scopedName	Entity's scoped name.
[in]	_ecm	Immutable reference to ECM.
[in]	_relativeTo	Entity that the scoped name is relative to. The scoped name does not include the name of this entity. If not provided, the scoped name could be relative to any entity.
[in]	_delim	Delimiter between names, defaults to "::", it can't be empty.

Returns: All entities that match the scoped name and relative to requirements, or an empty set otherwise.

◆ entityFromMsg()

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.

The message is used as follows:

if id not null
  use id
else if name not null and type not null
  use name + type
else
  error
end

Parameters

[in]	_ecm	Entity component manager
[in]	_msg	Entity message

Returns: Entity ID, or kNullEntity if a matching entity couldn't be found.

◆ entityTypeId()

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.

This function returns the type ID of the given entity's type, which can be checked against different types. For example, if the entity is a model, this will be true:

sim::components::Model::typeId == entityTypeId(entity, ecm)

In case the entity isn't of any known type, this will return kComponentTypeIdInvalid.

In case the entity has more than one type, only one of them will be returned. This is not standard usage.

Parameters

[in]	_entity	Entity to get the type for.
[in]	_ecm	Immutable reference to ECM.

Returns: ID of entity's type-defining components.

◆ entityTypeStr()

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.

This function returns a lowercase string for each type. For example, "light", "actor", etc.

In case the entity isn't of any known type, this will return an empty string.

In case the entity has more than one type, only one of them will be returned. This is not standard usage.

Note that this is different from component type names.

Parameters

[in]	_entity	Entity to get the type for.
[in]	_ecm	Immutable reference to ECM.

Returns: ID of entity's type-defining components.

◆ getGridFieldCoordinates()

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.

Parameters

[in]	_ecm	Entity Component Manager
[in]	_worldPosition	world position
[in]	_gridField	Gridfield you are interested in.

◆ getGUIConfigPath()

std::string getGUIConfigPath ( )

getGUIConfigPath return the GUI config path

◆ getGUIPluginInstallDir()

std::string getGUIPluginInstallDir ( )

getGUIPluginInstallDir return the GUI plugin install dir

◆ getInstallPrefix()

std::string getInstallPrefix ( )

getInstallPrefix return the install prefix of the library i.e. CMAKE_INSTALL_PREFIX unless the library has been moved

◆ getMediaInstallDir()

std::string getMediaInstallDir ( )

getMediaInstallDir return the media install dir

◆ getPluginInstallDir()

std::string getPluginInstallDir ( )

getPluginInstallDir return the plugin install dir

◆ getPrimitive()

std::string getPrimitive ( const std::string & _typeName )

Return an SDF string of one of the available primitive shape or light types.

Parameters

[in] _typeName Type name of the of shape or light to retrieve. Must be one of: box, sphere, cylinder, cone, capsule, ellipsoid, directional, point, or spot.

Returns: String containing SDF description of primitive shape or light. Empty string if the _typeName is invalid.

◆ getPrimitiveLight()

std::string getPrimitiveLight ( const PrimitiveLight & _type )

Return an SDF string of one of the available primitive light types.

Parameters

[in] _type Type of light to retrieve

Returns: String containing SDF description of primitive light Empty string if the _type is not supported.

◆ getPrimitiveShape()

std::string getPrimitiveShape ( const PrimitiveShape & _type )

Return an SDF string of one of the available primitive shape types.

Parameters

[in] _type Type of shape to retrieve

Returns: String containing SDF description of primitive shape Empty string if the _type is not supported.

◆ getServerConfigPath()

std::string getServerConfigPath ( )

getServerConfigPath return the server config path

◆ getSystemConfigPath()

std::string getSystemConfigPath ( )

getSystemConfigPath return the system config path

◆ getTransformType()

std::optional< TransformType > getTransformType ( const std::string & _str )

Given a string return the type of transform.

Parameters

[in] _str - input string

Returns: std::nullopt if string invalid, else corresponding transform

References ADD_VELOCITY_GLOBAL, ADD_VELOCITY_LOCAL, GLOBAL, and LOCAL.

◆ getWorldInstallDir()

std::string getWorldInstallDir ( )

getWorldInstallDir return the world install dir

◆ loadMesh()

const common::Mesh * loadMesh ( const sdf::Mesh & _meshSdf )

Load a mesh from a Mesh SDF DOM.

Parameters

[in] _meshSdf Mesh SDF DOM

Returns: The loaded mesh or null if the mesh can not be loaded.

◆ loadPluginInfo()

std::list< ServerConfig::PluginInfo > loadPluginInfo ( bool _isPlayback = false )

Load plugin information, following ordering.

This method is used when no plugins are found in an SDF file to load either a default or custom set of plugins.

The following order is used to resolve:

Config file located at GZ_SIM_SERVER_CONFIG_PATH environment variable.
- If GZ_SIM_SERVER_CONFIG_PATH is set but empty, no plugins are loaded.
File at ${GZ_HOMEDIR}/.gz/sim/server.config
File at ${GZ_DATA_INSTALL_DIR}/server.config

If any of the above files exist but are empty, resolution stops and the plugin list will be empty.

Parameters

[in] _isPlayback Is the server in playback mode. If so, fallback to playback_server.config.

Returns: A list of plugins to load, based on above ordering

◆ optimizeMesh()

const common::Mesh * optimizeMesh	(	const sdf::Mesh &	_meshSdf,
		const common::Mesh &	_mesh
	)

Optimize input mesh.

Parameters

[in]	_meshSdf	Mesh SDF DOM with mesh optimization parameters
[in]	_mesh	Input mesh to optimize.

Returns: The optimized mesh or null if the mesh can not be optimized.

◆ parsePluginsFromFile()

std::list< ServerConfig::PluginInfo > parsePluginsFromFile ( const std::string & _fname )

Parse plugins from XML configuration file.

Parameters

[in] _fname Absolute path to the configuration file to parse.

Returns: A list of all of the plugins found in the configuration file

◆ parsePluginsFromString()

std::list< ServerConfig::PluginInfo > parsePluginsFromString ( const std::string & _str )

Parse plugins from XML configuration string.

Parameters

[in] _str XML configuration content to parse

Returns: A list of all of the plugins found in the configuration string.

◆ relativeVel()

math::Vector3d relativeVel	(	const Entity &	_entity,
		const EntityComponentManager &	_ecm
	)

Helper function to compute world velocity of an entity.

Parameters

[in]	_entity	Entity to get the world pose for
[in]	_ecm	Immutable reference to ECM.

Returns: World pose of entity

◆ removeParentScope()

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.

Parameters

[in]	_name	Input name possibly generated by scopedName.
[in]	_delim	Delimiter between names.

Returns: A new string with the parent scope removed.

◆ resolveSdfWorldFile()

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.

Parameters

[in]	_sdfFile	An SDF world filename such as: "shapes.sdf" - This is referencing an installed world file. "../shapes.sdf" - This is referencing a relative world file. "/home/user/shapes.sdf" - This is reference an absolute world file. "https://fuel.gazebosim.org/1.0/openrobotics/worlds/shapes.sdf" This is referencing a Fuel URI. This will download the world file.
[in]	_fuelResourceCache	Path to a Fuel resource cache, if known.

Returns: Full path to the SDF world file. An empty string is returned if the file could not be found.

◆ resourcePaths()

std::vector< std::string > resourcePaths ( )

Get resource paths based on latest environment variables.

Returns: All paths in the GZ_SIM_RESOURCE_PATH variable.

◆ scopedName()

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.

Parameters

[in]	_entity	Entity to get the name for.
[in]	_ecm	Immutable reference to ECM.
[in]	_delim	Delimiter to put between names, defaults to "/".
[in]	_includePrefix	True to include the type prefix before the entity name

◆ set() [1/3]

void set	(	msgs::SensorNoise *	_msg,
		const sdf::Noise &	_sdf
	)

Helper function that sets a mutable msgs::SensorNoise object to the values contained in a sdf::Noise object.

Parameters

[out]	_msg	SensorNoise message to set.
[in]	_sdf	SDF Noise object.

◆ set() [2/3]

void set	(	msgs::Time *	_msg,
		const std::chrono::steady_clock::duration &	_in
	)

Helper function that sets a mutable msgs::Time object to the values contained in a std::chrono::steady_clock::duration object.

Parameters

[out]	_msg	Time message to set.
[in]	_in	Chrono duration object.

◆ set() [3/3]

void set	(	msgs::WorldStatistics *	_msg,
		const UpdateInfo &	_in
	)

Helper function that sets a mutable msgs::WorldStatistics object to the values contained in a sim::UpdateInfo object.

Parameters

[out]	_msg	WorldStatistics message to set.
[in]	_in	UpdateInfo object.

◆ setNoise()

void setNoise	(	sdf::Noise &	_noise,
		double	_mean,
		double	_meanBias,
		double	_stdDev,
		double	_stdDevBias,
		double	_dynamicBiasStdDev,
		double	_dynamicBiasCorrelationTime
	)

Helper function that will set all noise properties.

Parameters

[out]	_noise	Noise to set
[in]	_mean	Mean value
[in]	_meanBias	Bias mean value
[in]	_stdDev	Standard deviation value
[in]	_stdDevBias	Bias standard deviation value
[in]	_dynamicBiasStdDev	Dynamic bias standard deviation value
[in]	_dynamicBiasCorrelationTime	Dynamic bias correlation time value

◆ sphericalCoordinates()

std::optional< math::Vector3d > sphericalCoordinates	(	Entity	_entity,
		const EntityComponentManager &	_ecm
	)

Get the spherical coordinates for an entity.

Parameters

[in]	_entity	Entity whose coordinates we want.
[in]	_ecm	Entity component manager

Returns: The entity's latitude (deg), longitude (deg) and elevation (m). If the entity doesn't have a pose, or the world's spherical coordinates haven't been defined, this will return nullopt.

◆ topicFromScopedName()

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.

For example, if the provided entity has a scoped name of my_model::my_link::my_sensor then the resulting topic name will be /model/my_model/link/my_link/sensor/my_sensor. If _excludeWorld is false, then the topic name will be prefixed by /world/WORLD_NAME/, where WORLD_NAME is the name of the world.

Parameters

[in]	_entity	The entity to generate the topic name for.
[in]	_ecm	The entity component manager.
[in]	_excludeWorld	True to exclude the world name from the topic.

Returns: A Gazebo Transport topic name based on the scoped name of the provided entity, or empty string if a topic name could not be generated.

◆ topLevelModel()

Entity topLevelModel	(	const Entity &	_entity,
		const EntityComponentManager &	_ecm
	)

Get the top level model of an entity.

Parameters

[in]	_entity	Input entity
[in]	_ecm	Constant reference to ECM.

Returns: Entity of top level model. If _entity has no top level model, kNullEntity is returned.

◆ transformFrame()

math::Vector3d transformFrame	(	const TransformType	_type,
		const math::Pose3d &	_pose,
		const math::Vector3d &	_velocity,
		const math::Vector3d &	_reading
	)

Given a string return the type of transform.

Parameters

[in]	_type	- Transform type.
[in]	_pose	- Global pose of frame to be transformed into.
[in]	_velocity	- Velocity of current frame.
[in]	_reading	- vector to be transformed.

Returns: transformed vector.

References ADD_VELOCITY_GLOBAL, ADD_VELOCITY_LOCAL, LOCAL, and Pose3< typename T >::Rot().

◆ validTopic()

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:

The first topic unchanged, if valid.
A valid version of the first topic, if possible.
The second topic unchanged, if valid.
A valid version of the second topic, if possible.
...
If no valid topics could be generated, return an empty string.

Parameters

[in] _topics Topics ordered by preference.

◆ worldEntity() [1/2]

Entity worldEntity	(	const Entity &	_entity,
		const EntityComponentManager &	_ecm
	)

Get the world to which the given entity belongs.

Parameters

[in]	_entity	Entity to get the world for.
[in]	_ecm	Immutable reference to ECM.

Returns: World entity ID.

◆ worldEntity() [2/2]

Entity worldEntity ( const EntityComponentManager & _ecm )

Get the first world entity that's found.

Parameters

[in] _ecm Immutable reference to ECM.

Returns: World entity ID.

◆ worldPose()

math::Pose3d worldPose	(	const Entity &	_entity,
		const EntityComponentManager &	_ecm
	)

Helper function to compute world pose of an entity.

Parameters

[in]	_entity	Entity to get the world pose for
[in]	_ecm	Immutable reference to ECM.

Returns: World pose of entity

Variable Documentation

◆ EntityComponentManagerPrivate

class GZ_SIM_HIDDEN EntityComponentManagerPrivate

◆ EventManagerPrivate

class GZ_SIM_HIDDEN EventManagerPrivate

◆ kComponentTypeIdInvalid

const ComponentTypeId kComponentTypeIdInvalid = UINT64_MAX

static

Id that indicates an invalid component type.

◆ kNullEntity

const Entity kNullEntity {0}

Indicates a non-existant or invalid Entity.

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

◆ kRenderPluginPathEnv

const std::string kRenderPluginPathEnv {"GZ_SIM_RENDER_ENGINE_PATH"}

Environment variable holding paths to custom rendering engine plugins.

◆ kResourcePathEnv

const std::string kResourcePathEnv {"GZ_SIM_RESOURCE_PATH"}

Environment variable holding resource paths.

◆ kSdfPathEnv

const std::string kSdfPathEnv {"SDF_PATH"}

Environment variable used by SDFormat to find URIs inside <include>

◆ kServerConfigPathEnv

const std::string kServerConfigPathEnv {"GZ_SIM_SERVER_CONFIG_PATH"}

Environment variable holding server config paths.

◆ LinkPrivate

class GZ_SIM_HIDDEN LinkPrivate

◆ ModelPrivate

class GZ_SIM_HIDDEN ModelPrivate

◆ SystemLoaderPrivate

class GZ_SIM_HIDDEN SystemLoaderPrivate

◆ WorldPrivate

class GZ_SIM_HIDDEN WorldPrivate

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ ComponentCreator

◆ ComponentTypeId

◆ Entity

◆ EntityGraph

◆ EntityQueryCallback

◆ SystemPluginPtr

◆ UpdateCallback

Enumeration Type Documentation

◆ AlignAxis

◆ AlignConfig

◆ AlignState

◆ ComponentState

◆ PrimitiveLight

◆ PrimitiveShape

◆ TransformType

Function Documentation

◆ addResourcePaths()

◆ asFullPath()

◆ convert() [1/84]

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