Store state information of a physics::Link object. More...

#include <physics/physics.hh>

Inherits State.

Public Member Functions
	LinkState ()
	Default constructor. More...

	LinkState (const LinkPtr _link, const common::Time &_realTime, const common::Time &_simTime, const uint64_t _iterations)
	Constructor. More...

	LinkState (const LinkPtr _link)
	Constructor. More...

	LinkState (const sdf::ElementPtr _sdf)
	Constructor. More...

virtual	~LinkState ()
	Destructor. More...

void	FillSDF (sdf::ElementPtr _sdf)
	Populate a state SDF element with data from the object. More...

const math::Pose &	GetAcceleration () const
	Get the link acceleration. More...

CollisionState	GetCollisionState (unsigned int _index) const
	Get a collision state. More...

CollisionState	GetCollisionState (const std::string &_collisionName) const
	Get a link state by link name. More...

unsigned int	GetCollisionStateCount () const
	Get the number of link states. More...

const std::vector< CollisionState > &	GetCollisionStates () const
	Get the collision states. More...

uint64_t	GetIterations () const
	Get the iterations when this state was generated. More...

std::string	GetName () const
	Get the name associated with this State. More...

const math::Pose &	GetPose () const
	Get the link pose. More...

common::Time	GetRealTime () const
	Get the real time when this state was generated. More...

common::Time	GetSimTime () const
	Get the sim time when this state was generated. More...

const math::Pose &	GetVelocity () const
	Get the link velocity. More...

common::Time	GetWallTime () const
	Get the wall time when this state was generated. More...

const math::Pose &	GetWrench () const
	Get the force applied to the Link. More...

bool	IsZero () const
	Return true if the values in the state are zero. More...

void	Load (const LinkPtr _link, const common::Time &_realTime, const common::Time &_simTime, const uint64_t _iterations)
	Load a LinkState from a Link pointer. More...

virtual void	Load (const sdf::ElementPtr _elem)
	Load state from SDF element. More...

LinkState	operator+ (const LinkState &_state) const
	Addition operator. More...

State	operator- (const State &_state) const
	Subtraction operator. More...

LinkState	operator- (const LinkState &_state) const
	Subtraction operator. More...

LinkState &	operator= (const LinkState &_state)
	Assignment operator. More...

virtual void	SetIterations (const uint64_t _iterations)
	Set the simulation iterations when this state was generated. More...

void	SetName (const std::string &_name)
	Set the name associated with this State. More...

virtual void	SetRealTime (const common::Time &_time)
	Set the real time when this state was generated. More...

virtual void	SetSimTime (const common::Time &_time)
	Set the sim time when this state was generated. More...

virtual void	SetWallTime (const common::Time &_time)
	Set the wall time when this state was generated. More...

Protected Attributes
uint64_t	iterations
	The number of simulation iterations when this state was generated. More...

std::string	name
	Name associated with this State. More...

common::Time	realTime

common::Time	simTime

common::Time	wallTime
	Times for the state data. More...

Friends
std::ostream &	operator<< (std::ostream &_out, const gazebo::physics::LinkState &_state)
	Stream insertion operator. More...

Detailed Description

Store state information of a physics::Link object.

This class captures the entire state of a Link at one specific time during a simulation run.

State of a Link includes the state of itself all its child Collision entities.

Constructor & Destructor Documentation

§ LinkState() [1/4]

LinkState ( )

Default constructor.

§ LinkState() [2/4]

LinkState	(	const LinkPtr	_link,
		const common::Time &	_realTime,
		const common::Time &	_simTime,
		const uint64_t	_iterations
	)

Constructor.

Build a LinkState from an existing Link.

Parameters

[in]	_model	Pointer to the Link from which to gather state info.
[in]	_realTime	Real time stamp.
[in]	_simTime	Sim time stamp
[in]	_iterations	Simulation iterations.

§ LinkState() [3/4]

LinkState ( const LinkPtr _link )

explicit

Constructor.

Build a LinkState from an existing Link.

Parameters

[in] _model Pointer to the Link from which to gather state info.

§ LinkState() [4/4]

LinkState ( const sdf::ElementPtr _sdf )

explicit

Constructor.

Build a LinkState from SDF data

Parameters

[in] _sdf SDF data to load a link state from.

§ ~LinkState()

virtual ~LinkState ( )

virtual

Destructor.

Member Function Documentation

§ FillSDF()

void FillSDF ( sdf::ElementPtr _sdf )

Populate a state SDF element with data from the object.

Parameters

[out] _sdf SDF element to populate.

§ GetAcceleration()

const math::Pose& GetAcceleration ( ) const

Get the link acceleration.

Returns: The acceleration represented as a math::Pose.

§ GetCollisionState() [1/2]

CollisionState GetCollisionState ( unsigned int _index ) const

Get a collision state.

Get a Collision State based on an index, where index is in the range of 0...LinkState::GetCollisionStateCount.

Parameters

[in] _index Index of the CollisionState.

Returns: State of the Collision.

Exceptions

common::Exception When _index is invalid.

§ GetCollisionState() [2/2]

CollisionState GetCollisionState ( const std::string & _collisionName ) const

Get a link state by link name.

Searches through all CollisionStates. Returns the CollisionState with the matching name, if any.

Parameters

[in] _collisionName Name of the CollisionState

Returns: State of the Collision.

Exceptions

common::Exception When _collisionName is invalid

§ GetCollisionStateCount()

unsigned int GetCollisionStateCount ( ) const

Get the number of link states.

This returns the number of Collisions recorded.

Returns: Number of CollisionState recorded.

§ GetCollisionStates()

const std::vector<CollisionState>& GetCollisionStates ( ) const

Get the collision states.

Returns: A vector of collision states.

§ GetIterations()

uint64_t GetIterations ( ) const

inherited

Get the iterations when this state was generated.

Returns: Iterations when the data was recorded

§ GetName()

std::string GetName ( ) const

inherited

Get the name associated with this State.

Returns: Name associated with this state information. Typically a name of an Entity.

§ GetPose()

const math::Pose& GetPose ( ) const

Get the link pose.

Returns: The math::Pose of the Link.

§ GetRealTime()

common::Time GetRealTime ( ) const

inherited

Get the real time when this state was generated.

Returns: Clock time since simulation was stated.

§ GetSimTime()

common::Time GetSimTime ( ) const

inherited

Get the sim time when this state was generated.

Returns: Simulation time when the data was recorded.

§ GetVelocity()

const math::Pose& GetVelocity ( ) const

Get the link velocity.

Returns: The velocity represented as a math::Pose.

§ GetWallTime()

common::Time GetWallTime ( ) const

inherited

Get the wall time when this state was generated.

Returns: The absolute clock time when the State data was recorded.

§ GetWrench()

const math::Pose& GetWrench ( ) const

Get the force applied to the Link.

Returns: Magnitude of the force.

§ IsZero()

bool IsZero ( ) const

Return true if the values in the state are zero.

Returns: True if the values in the state are zero.

§ Load() [1/2]

void Load	(	const LinkPtr	_link,
		const common::Time &	_realTime,
		const common::Time &	_simTime,
		const uint64_t	_iterations
	)

Load a LinkState from a Link pointer.

Build a LinkState from an existing Link.

Parameters

[in]	_model	Pointer to the Link from which to gather state info.
[in]	_realTime	Real time stamp.
[in]	_simTime	Sim time stamp.
[in]	_iterations	Simulation iterations.

§ Load() [2/2]

virtual void Load ( const sdf::ElementPtr _elem )

virtual

Load state from SDF element.

Load LinkState information from stored data in and SDF::Element.

Parameters

[in] _elem Pointer to the SDF::Element containing state info.

Reimplemented from State.

§ operator+()

LinkState operator+ ( const LinkState & _state ) const

Addition operator.

Parameters

[in] _pt A state to add.

Returns: The resulting state.

§ operator-() [1/2]

State operator- ( const State & _state ) const

inherited

Subtraction operator.

Parameters

[in] _pt A state to substract.

Returns: The resulting state.

§ operator-() [2/2]

LinkState operator- ( const LinkState & _state ) const

Subtraction operator.

Parameters

[in] _pt A state to substract.

Returns: The resulting state.

§ operator=()

LinkState& operator= ( const LinkState & _state )

Assignment operator.

Parameters

[in] _state State value

Returns: this

§ SetIterations()

virtual void SetIterations ( const uint64_t _iterations )

virtual

Set the simulation iterations when this state was generated.

Parameters

[in] _iterations Simulation iterations when the data was recorded.

Reimplemented from State.

§ SetName()

void SetName ( const std::string & _name )

inherited

Set the name associated with this State.

Parameters

[in] _name Name associated with this state information. Typically the name of an Entity.

§ SetRealTime()

virtual void SetRealTime ( const common::Time & _time )

virtual

Set the real time when this state was generated.

Parameters

[in] _time Clock time since simulation was stated.

Reimplemented from State.

§ SetSimTime()

virtual void SetSimTime ( const common::Time & _time )

virtual

Set the sim time when this state was generated.

Parameters

[in] _time Simulation time when the data was recorded.

Reimplemented from State.

§ SetWallTime()

virtual void SetWallTime ( const common::Time & _time )

virtual

Set the wall time when this state was generated.

Parameters

[in] _time The absolute clock time when the State data was recorded.

Reimplemented from State.

Friends And Related Function Documentation

§ operator<<

std::ostream& operator<<	(	std::ostream &	_out,
		const gazebo::physics::LinkState &	_state
	)

friend

Stream insertion operator.

Parameters

[in]	_out	output stream
[in]	_state	Link state to output

Returns: the stream

Disabling this for efficiency.

Member Data Documentation

§ iterations

uint64_t iterations

protectedinherited

The number of simulation iterations when this state was generated.

§ name

std::string name

protectedinherited

Name associated with this State.

§ realTime

common::Time realTime

protectedinherited

§ simTime

common::Time simTime

protectedinherited

§ wallTime

common::Time wallTime

protectedinherited

Times for the state data.

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

LinkState.hh

Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

§ LinkState() [1/4]

§ LinkState() [2/4]

§ LinkState() [3/4]

§ LinkState() [4/4]

§ ~LinkState()

Member Function Documentation

§ FillSDF()

§ GetAcceleration()

§ GetCollisionState() [1/2]

§ GetCollisionState() [2/2]

§ GetCollisionStateCount()

§ GetCollisionStates()

§ GetIterations()

§ GetName()

§ GetPose()

§ GetRealTime()

§ GetSimTime()

§ GetVelocity()

§ GetWallTime()

§ GetWrench()

§ IsZero()

§ Load() [1/2]

§ Load() [2/2]

§ operator+()

§ operator-() [1/2]

§ operator-() [2/2]

§ operator=()

§ SetIterations()

§ SetName()

§ SetRealTime()

§ SetSimTime()

§ SetWallTime()

Friends And Related Function Documentation

§ operator<<

Member Data Documentation

§ iterations

§ name

§ realTime

§ simTime

§ wallTime