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Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
SimbodyCylinderShape Class Reference
Physics » Simbody Physics

Cylinder collision. More...

#include <SimbodyCylinderShape.hh>

Inherits CylinderShape.

Public Types

enum  EntityType {
  BASE = 0x00000000, ENTITY = 0x00000001, MODEL = 0x00000002, LINK = 0x00000004,
  COLLISION = 0x00000008, ACTOR = 0x00000016, LIGHT = 0x00000010, VISUAL = 0x00000020,
  JOINT = 0x00000040, BALL_JOINT = 0x00000080, HINGE2_JOINT = 0x00000100, HINGE_JOINT = 0x00000200,
  SLIDER_JOINT = 0x00000400, SCREW_JOINT = 0x00000800, UNIVERSAL_JOINT = 0x00001000, GEARBOX_JOINT = 0x00002000,
  FIXED_JOINT = 0x00004000, SHAPE = 0x00010000, BOX_SHAPE = 0x00020000, CYLINDER_SHAPE = 0x00040000,
  HEIGHTMAP_SHAPE = 0x00080000, MAP_SHAPE = 0x00100000, MULTIRAY_SHAPE = 0x00200000, RAY_SHAPE = 0x00400000,
  PLANE_SHAPE = 0x00800000, SPHERE_SHAPE = 0x01000000, MESH_SHAPE = 0x02000000, POLYLINE_SHAPE = 0x04000000,
  SENSOR_COLLISION = 0x10000000
}
 Unique identifiers for all entity types. More...
 

Public Member Functions

 SimbodyCylinderShape (CollisionPtr _parent)
 Constructor. More...
 
virtual ~SimbodyCylinderShape ()
 Destructor. More...
 
void AddChild (BasePtr _child)
 Add a child to this entity. More...
 
void AddType (EntityType _type)
 Add a type specifier. More...
 
virtual double ComputeVolume () const
 Documentation inherited. More...
 
void FillMsg (msgs::Geometry &_msg)
 Fill in the values for a geomertry message. More...
 
virtual void Fini ()
 Finialize the object. More...
 
BasePtr GetByName (const std::string &_name)
 Get by name. More...
 
BasePtr GetChild (unsigned int _i) const
 Get a child by index. More...
 
BasePtr GetChild (const std::string &_name)
 Get a child by name. More...
 
unsigned int GetChildCount () const
 Get the number of children. More...
 
uint32_t GetId () const
 Return the ID of this entity. More...
 
double GetLength () const
 Get length. More...
 
std::string GetName () const
 Return the name of the entity. More...
 
BasePtr GetParent () const
 Get the parent. More...
 
int GetParentId () const
 Return the ID of the parent. More...
 
double GetRadius () const
 Get radius. More...
 
bool GetSaveable () const
 Get whether the object should be "saved", when the user selects to save the world to xml. More...
 
virtual math::Vector3 GetScale () const
 Get the scale of the shape. More...
 
std::string GetScopedName (bool _prependWorldName=false) const
 Return the name of this entity with the model scope model1::...::modelN::entityName. More...
 
virtual const sdf::ElementPtr GetSDF ()
 Get the SDF values for the object. More...
 
unsigned int GetType () const
 Get the full type definition. More...
 
const WorldPtr & GetWorld () const
 Get the World this object is in. More...
 
bool HasType (const EntityType &_t) const
 Returns true if this object's type definition has the given type. More...
 
void Init ()
 Initialize the cylinder. More...
 
bool IsSelected () const
 True if the entity is selected by the user. More...
 
virtual void Load (sdf::ElementPtr _sdf)
 Load. More...
 
bool operator== (const Base &_ent) const
 Returns true if the entities are the same. More...
 
void Print (const std::string &_prefix)
 Print this object to screen via gzmsg. More...
 
virtual void ProcessMsg (const msgs::Geometry &_msg)
 Update values based on a message. More...
 
virtual void RemoveChild (unsigned int _id)
 Remove a child from this entity. More...
 
void RemoveChild (const std::string &_name)
 Remove a child by name. More...
 
void RemoveChild (physics::BasePtr _child)
 Remove a child by pointer. More...
 
void RemoveChildren ()
 Remove all children. More...
 
virtual void Reset ()
 Reset the object. More...
 
virtual void Reset (Base::EntityType _resetType)
 Calls recursive Reset on one of the Base::EntityType's. More...
 
void SetLength (double _length)
 Set length. More...
 
virtual void SetName (const std::string &_name)
 Set the name of the entity. More...
 
void SetParent (BasePtr _parent)
 Set the parent. More...
 
void SetRadius (double _radius)
 Set radius. More...
 
void SetSaveable (bool _v)
 Set whether the object should be "saved", when the user selects to save the world to xml. More...
 
virtual void SetScale (const math::Vector3 &_scale)
 Set scale of cylinder. More...
 
virtual bool SetSelected (bool _show)
 Set whether this entity has been selected by the user through the gui. More...
 
void SetSize (double _radius, double _length)
 Set the size of the cylinder. More...
 
void SetWorld (const WorldPtr &_newWorld)
 Set the world this object belongs to. More...
 
virtual void Update ()
 Update the object. More...
 
virtual void UpdateParameters (sdf::ElementPtr _sdf)
 Update the parameters using new sdf values. More...
 

Protected Member Functions

void ComputeScopedName ()
 Compute the scoped name of this object based on its parents. More...
 

Protected Attributes

Base_V children
 Children of this entity. More...
 
CollisionPtr collisionParent
 This shape's collision parent. More...
 
BasePtr parent
 Parent of this entity. More...
 
math::Vector3 scale
 This shape's scale;. More...
 
sdf::ElementPtr sdf
 The SDF values for this object. More...
 
WorldPtr world
 Pointer to the world. More...
 

Detailed Description

Cylinder collision.

Member Enumeration Documentation

§ EntityType

enum EntityType
inherited

Unique identifiers for all entity types.

Enumerator
BASE 

Base type.

ENTITY 

Entity type.

MODEL 

Model type.

LINK 

Link type.

COLLISION 

Collision type.

ACTOR 

Actor type.

LIGHT 

Light type.

VISUAL 

Visual type.

JOINT 

Joint type.

BALL_JOINT 

BallJoint type.

HINGE2_JOINT 

Hing2Joint type.

HINGE_JOINT 

HingeJoint type.

SLIDER_JOINT 

SliderJoint type.

SCREW_JOINT 

ScrewJoint type.

UNIVERSAL_JOINT 

UniversalJoint type.

GEARBOX_JOINT 

GearboxJoint type.

FIXED_JOINT 

FixedJoint type.

SHAPE 

Shape type.

BOX_SHAPE 

BoxShape type.

CYLINDER_SHAPE 

CylinderShape type.

HEIGHTMAP_SHAPE 

HeightmapShape type.

MAP_SHAPE 

MapShape type.

MULTIRAY_SHAPE 

MultiRayShape type.

RAY_SHAPE 

RayShape type.

PLANE_SHAPE 

PlaneShape type.

SPHERE_SHAPE 

SphereShape type.

MESH_SHAPE 

MeshShape type.

POLYLINE_SHAPE 

PolylineShape type.

SENSOR_COLLISION 

Indicates a collision shape used for sensing.

Constructor & Destructor Documentation

§ SimbodyCylinderShape()

SimbodyCylinderShape ( CollisionPtr  _parent)
inline

Constructor.

§ ~SimbodyCylinderShape()

virtual ~SimbodyCylinderShape ( )
inlinevirtual

Destructor.

Member Function Documentation

§ AddChild()

void AddChild ( BasePtr  _child)
inherited

Add a child to this entity.

Parameters
[in]_childChild entity.

Referenced by Base::Update().

§ AddType()

void AddType ( EntityType  _type)
inherited

Add a type specifier.

Parameters
[in]_typeNew type to append to this objects type definition.

Referenced by Base::Update().

§ ComputeScopedName()

void ComputeScopedName ( )
protectedinherited

Compute the scoped name of this object based on its parents.

See also
Base::GetScopedName

Referenced by Base::Update().

§ ComputeVolume()

virtual double ComputeVolume ( ) const
virtualinherited

Documentation inherited.

Reimplemented from Shape.

§ FillMsg()

void FillMsg ( msgs::Geometry &  _msg)
virtualinherited

Fill in the values for a geomertry message.

Parameters
[out]_msgThe geometry message to fill.

Implements Shape.

§ Fini()

virtual void Fini ( )
virtualinherited

Finialize the object.

Reimplemented in Joint, Actor, Link, Model, Entity, DARTModel, ODEJoint, BulletLink, Road, DARTCollision, DARTLink, ODECollision, Collision, SimbodyLink, BulletJoint, and ODELink.

§ GetByName()

BasePtr GetByName ( const std::string &  _name)
inherited

Get by name.

Parameters
[in]_nameGet a child (or self) object by name
Returns
A pointer to the object, NULL if not found

Referenced by Base::Update().

§ GetChild() [1/2]

BasePtr GetChild ( unsigned int  _i) const
inherited

Get a child by index.

Parameters
[in]_iIndex of the child to retreive.
Returns
A pointer to the object, NULL if the index is invalid.

Referenced by Base::Update().

§ GetChild() [2/2]

BasePtr GetChild ( const std::string &  _name)
inherited

Get a child by name.

Parameters
[in]_nameName of the child.
Returns
A pointer to the object, NULL if not found

§ GetChildCount()

unsigned int GetChildCount ( ) const
inherited

Get the number of children.

Returns
The number of children.

Referenced by Base::Update().

§ GetId()

uint32_t GetId ( ) const
inherited

Return the ID of this entity.

This id is unique.

Returns
Integer ID.

Referenced by Base::Update().

§ GetLength()

double GetLength ( ) const
inherited

Get length.

Returns
The cylinder length.

§ GetName()

std::string GetName ( ) const
inherited

Return the name of the entity.

Returns
Name of the entity.

Referenced by Base::Update().

§ GetParent()

BasePtr GetParent ( ) const
inherited

Get the parent.

Returns
Pointer to the parent entity.

Referenced by Base::Update().

§ GetParentId()

int GetParentId ( ) const
inherited

Return the ID of the parent.

Returns
Integer ID.

Referenced by Base::Update().

§ GetRadius()

double GetRadius ( ) const
inherited

Get radius.

Returns
The cylinder radius.

§ GetSaveable()

bool GetSaveable ( ) const
inherited

Get whether the object should be "saved", when the user selects to save the world to xml.

Returns
True if the object is saveable.

Referenced by Base::Update().

§ GetScale()

virtual math::Vector3 GetScale ( ) const
virtualinherited

Get the scale of the shape.

Returns
Scale of the shape.

Reimplemented in MapShape.

§ GetScopedName()

std::string GetScopedName ( bool  _prependWorldName = false) const
inherited

Return the name of this entity with the model scope model1::...::modelN::entityName.

Parameters
[in]_prependWorldNameTrue to prended the returned string with the world name. The result will be world::model1::...::modelN::entityName.
Returns
The scoped name.

Referenced by Base::Update().

§ GetSDF()

virtual const sdf::ElementPtr GetSDF ( )
virtualinherited

Get the SDF values for the object.

Returns
The SDF values for the object.

Reimplemented in Actor, and Model.

Referenced by Base::Update().

§ GetType()

unsigned int GetType ( ) const
inherited

Get the full type definition.

Returns
The full type definition.

Referenced by Base::Update().

§ GetWorld()

const WorldPtr& GetWorld ( ) const
inherited

Get the World this object is in.

Returns
The World this object is part of.

Referenced by Base::Update().

§ HasType()

bool HasType ( const EntityType &  _t) const
inherited

Returns true if this object's type definition has the given type.

Parameters
[in]_tType to check.
Returns
True if this object's type definition has the.

Referenced by Base::Update().

§ Init()

void Init ( )
virtualinherited

Initialize the cylinder.

Implements Shape.

§ IsSelected()

bool IsSelected ( ) const
inherited

True if the entity is selected by the user.

Returns
True if the entity is selected.

Referenced by Base::Update().

§ Load()

virtual void Load ( sdf::ElementPtr  _sdf)
virtualinherited

Load.

Parameters
[in]nodePointer to an SDF parameters

Reimplemented in Joint, Actor, Link, Entity, SimbodySliderJoint, Model, BulletCollision, BallJoint< ODEJoint >, BallJoint< DARTJoint >, BallJoint< SimbodyJoint >, BallJoint< BulletJoint >, UniversalJoint< ODEJoint >, UniversalJoint< DARTJoint >, UniversalJoint< SimbodyJoint >, UniversalJoint< BulletJoint >, MapShape, GearboxJoint< ODEJoint >, HeightmapShape, Hinge2Joint< ODEJoint >, Hinge2Joint< DARTJoint >, Hinge2Joint< SimbodyJoint >, Hinge2Joint< BulletJoint >, Collision, ODEJoint, HingeJoint< ODEJoint >, HingeJoint< DARTJoint >, HingeJoint< SimbodyJoint >, HingeJoint< BulletJoint >, BulletScrewJoint, BulletHinge2Joint, ODECollision, ScrewJoint< ODEJoint >, ScrewJoint< DARTJoint >, ScrewJoint< SimbodyJoint >, ScrewJoint< BulletJoint >, BulletLink, DARTJoint, ODEHinge2Joint, ODEHingeJoint, SliderJoint< ODEJoint >, SliderJoint< DARTJoint >, SliderJoint< SimbodyJoint >, SliderJoint< BulletJoint >, BulletBallJoint, BulletJoint, DARTModel, Road, SimbodyCollision, SimbodyFixedJoint, DARTCollision, DARTLink, FixedJoint< ODEJoint >, FixedJoint< DARTJoint >, FixedJoint< SimbodyJoint >, FixedJoint< BulletJoint >, BulletFixedJoint, BulletHingeJoint, BulletSliderJoint, BulletUniversalJoint, ODEGearboxJoint, ODESliderJoint, SimbodyHinge2Joint, SimbodyHingeJoint, SimbodyLink, SimbodyUniversalJoint, ODEFixedJoint, ODELink, SimbodyScrewJoint, DARTFixedJoint, DARTHinge2Joint, DARTHingeJoint, SimbodyJoint, DARTMeshShape, DARTScrewJoint, DARTPolylineShape, DARTUniversalJoint, ODEMeshShape, ODEScrewJoint, SimbodyBallJoint, SimbodyMeshShape, BulletMeshShape, BulletPolylineShape, DARTBallJoint, DARTSliderJoint, ODEPolylineShape, SimbodyModel, and SimbodyPolylineShape.

§ operator==()

bool operator== ( const Base &  _ent) const
inherited

Returns true if the entities are the same.

Checks only the name.

Parameters
[in]_entBase object to compare with.
Returns
True if the entities are the same.

Referenced by Base::Update().

§ Print()

void Print ( const std::string &  _prefix)
inherited

Print this object to screen via gzmsg.

Parameters
[in]_prefixUsually a set of spaces.

Referenced by Base::Update().

§ ProcessMsg()

virtual void ProcessMsg ( const msgs::Geometry &  _msg)
virtualinherited

Update values based on a message.

Parameters
[in]_msgMessage to update from.

Implements Shape.

§ RemoveChild() [1/3]

virtual void RemoveChild ( unsigned int  _id)
virtualinherited

Remove a child from this entity.

Parameters
[in]_idID of the child to remove.

Referenced by Base::Update().

§ RemoveChild() [2/3]

void RemoveChild ( const std::string &  _name)
inherited

Remove a child by name.

Parameters
[in]_nameName of the child.

§ RemoveChild() [3/3]

void RemoveChild ( physics::BasePtr  _child)
inherited

Remove a child by pointer.

Parameters
[in]_childPointer to the child.

§ RemoveChildren()

void RemoveChildren ( )
inherited

Remove all children.

Referenced by Base::Update().

§ Reset() [1/2]

virtual void Reset ( )
virtualinherited

Reset the object.

Reimplemented in Joint, Model, Link, Entity, ODEJoint, DARTJoint, BulletJoint, and SimbodyJoint.

Referenced by Base::Init().

§ Reset() [2/2]

virtual void Reset ( Base::EntityType  _resetType)
virtualinherited

Calls recursive Reset on one of the Base::EntityType's.

Parameters
[in]_resetTypeThe type of reset operation

§ SetLength()

void SetLength ( double  _length)
inherited

Set length.

Parameters
[in]_lengthNew length of the cylinder.

§ SetName()

virtual void SetName ( const std::string &  _name)
virtualinherited

Set the name of the entity.

Parameters
[in]_nameNew name.

Reimplemented in Entity.

Referenced by Base::Update().

§ SetParent()

void SetParent ( BasePtr  _parent)
inherited

Set the parent.

Parameters
[in]_parentParent object.

Referenced by Base::Update().

§ SetRadius()

void SetRadius ( double  _radius)
inherited

Set radius.

Parameters

§ SetSaveable()

void SetSaveable ( bool  _v)
inherited

Set whether the object should be "saved", when the user selects to save the world to xml.

Parameters
[in]_vSet to True if the object should be saved.

Referenced by Base::Update().

§ SetScale()

virtual void SetScale ( const math::Vector3 &  _scale)
virtualinherited

Set scale of cylinder.

Parameters
[in]_scaleScale to set the cylinder to.

Implements Shape.

§ SetSelected()

virtual bool SetSelected ( bool  _show)
virtualinherited

Set whether this entity has been selected by the user through the gui.

Parameters
[in]_showTrue to set this entity as selected.

Reimplemented in Link.

Referenced by Base::Update().

§ SetSize()

void SetSize ( double  _radius,
double  _length 
)
inlinevirtual

Set the size of the cylinder.

Parameters
[in]_radiusNew radius.
[in]_lenghtNew length.

Reimplemented from CylinderShape.

References Shape::collisionParent, gazebo::math::equal(), gzerr, gzwarn, and CylinderShape::SetSize().

§ SetWorld()

void SetWorld ( const WorldPtr &  _newWorld)
inherited

Set the world this object belongs to.

This will also set the world for all children.

Parameters
[in]_newWorldThe new World this object is part of.

Referenced by Base::Update().

§ Update()

virtual void Update ( )
inlinevirtualinherited

Update the object.

Reimplemented in MultiRayShape, Joint, Actor, RayShape, Model, DARTModel, MapShape, DARTRayShape, ODERayShape, DARTMeshShape, MeshShape, BulletRayShape, ODEMeshShape, ODEPolylineShape, and SimbodyRayShape.

References Base::AddChild(), Base::AddType(), Base::ComputeScopedName(), Base::GetByName(), Base::GetChild(), Base::GetChildCount(), Base::GetId(), Base::GetName(), Base::GetParent(), Base::GetParentId(), Base::GetSaveable(), Base::GetScopedName(), Base::GetSDF(), Base::GetType(), Base::GetWorld(), Base::HasType(), Base::IsSelected(), Base::operator==(), Base::Print(), Base::RemoveChild(), Base::RemoveChildren(), Base::SetName(), Base::SetParent(), Base::SetSaveable(), Base::SetSelected(), Base::SetWorld(), and Base::UpdateParameters().

§ UpdateParameters()

virtual void UpdateParameters ( sdf::ElementPtr  _sdf)
virtualinherited

Update the parameters using new sdf values.

Parameters
[in]_sdfUpdate the object's parameters based on SDF values.

Reimplemented in Joint, Actor, Link, Model, Entity, and Collision.

Referenced by Base::Update().

Member Data Documentation

§ children

Base_V children
protectedinherited

Children of this entity.

§ collisionParent

CollisionPtr collisionParent
protectedinherited

This shape's collision parent.

Referenced by ODEPlaneShape::CreatePlane(), BulletPlaneShape::CreatePlane(), ODEPlaneShape::SetAltitude(), SimbodySphereShape::SetRadius(), ODESphereShape::SetRadius(), BulletSphereShape::SetRadius(), SimbodyBoxShape::SetSize(), ODECylinderShape::SetSize(), SimbodyCylinderShape::SetSize(), BulletBoxShape::SetSize(), ODEBoxShape::SetSize(), and BulletCylinderShape::SetSize().

§ parent

BasePtr parent
protectedinherited

Parent of this entity.

§ scale

math::Vector3 scale
protectedinherited

This shape's scale;.

§ sdf

sdf::ElementPtr sdf
protectedinherited

The SDF values for this object.

§ world

WorldPtr world
protectedinherited

Pointer to the world.

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