The world provides access to all other object within a simulated environment. More...

#include <physics/physics.hh>

Inherits enable_shared_from_this< World >.

Public Member Functions
	World (const std::string &_name="")
	Constructor. More...

	~World ()
	Destructor. More...

void	_AddDirty (Entity *_entity)

void	_SetSensorsInitialized (const bool _init)

void	Clear ()
	Remove all entities from the world. More...

void	ClearModels ()
	Remove all entities from the world. More...

void	DisableAllModels ()
	Disable all links in all the models. More...

void	EnableAllModels ()
	Enable all links in all the models. More...

void	EnablePhysicsEngine (bool _enable)
	enable/disable physics engine during World::Update. More...

void	Fini ()
	Finalize the world. More...

BasePtr	GetByName (const std::string &_name)
	Get an element by name. More...

bool	GetEnablePhysicsEngine ()
	check if physics engine is enabled/disabled. More...

EntityPtr	GetEntity (const std::string &_name)
	Get a pointer to an Entity based on a name. More...

EntityPtr	GetEntityBelowPoint (const math::Vector3 &_pt)
	Get the nearest entity below a point. More...

uint32_t	GetIterations () const
	Get the total number of iterations. More...

ModelPtr	GetModel (unsigned int _index) const
	Get a model based on an index. More...

ModelPtr	GetModel (const std::string &_name)
	Get a model by name. More...

ModelPtr	GetModelBelowPoint (const math::Vector3 &_pt)
	Get the nearest model below and not encapsulating a point. More...

unsigned int	GetModelCount () const
	Get the number of models. More...

Model_V	GetModels () const
	Get a list of all the models. More...

std::string	GetName () const
	Get the name of the world. More...

common::Time	GetPauseTime () const
	Get the amount of time simulation has been paused. More...

PhysicsEnginePtr	GetPhysicsEngine () const
	Return the physics engine. More...

PresetManagerPtr	GetPresetManager () const
	Return the preset manager. More...

common::Time	GetRealTime () const
	Get the real time (elapsed time). More...

bool	GetRunning () const
	Return the running state of the world. More...

msgs::Scene	GetSceneMsg () const
	Get the current scene in message form. More...

boost::mutex *	GetSetWorldPoseMutex () const
	Get the set world pose mutex. More...

common::Time	GetSimTime () const
	Get the world simulation time, note if you want the PC wall clock call common::Time::GetWallTime. More...

common::SphericalCoordinatesPtr	GetSphericalCoordinates () const
	Return the spherical coordinates converter. More...

common::Time	GetStartTime () const
	Get the wall time simulation was started. More...

ignition::math::Vector3d	Gravity () const
	Return the gravity vector. More...

void	Init ()
	Initialize the world. More...

void	InsertModelFile (const std::string &_sdfFilename)
	Insert a model from an SDF file. More...

void	InsertModelSDF (const sdf::SDF &_sdf)
	Insert a model using SDF. More...

void	InsertModelString (const std::string &_sdfString)
	Insert a model from an SDF string. More...

bool	IsLoaded () const
	Return true if the world has been loaded. More...

bool	IsPaused () const
	Returns the state of the simulation true if paused. More...

LightPtr	Light (const std::string &_name)
	Get a light by name. More...

unsigned int	LightCount () const
	Get the number of lights. More...

Light_V	Lights () const
	Get a list of all the lights. More...

void	Load (sdf::ElementPtr _sdf)
	Load the world using SDF parameters. More...

void	LoadPlugin (const std::string &_filename, const std::string &_name, sdf::ElementPtr _sdf)
	Load a plugin. More...

virtual ignition::math::Vector3d	MagneticField () const
	Return the magnetic field vector. More...

void	PrintEntityTree ()
	Print Entity tree. More...

void	PublishLightPose (const physics::LightPtr _light)
	Publish pose updates for a light. More...

void	PublishModelPose (physics::ModelPtr _model)
	Publish pose updates for a model. More...

void	PublishModelScale (physics::ModelPtr _model)
	Publish scale updates for a model. More...

void	RemoveModel (ModelPtr _model)
	Remove a model. More...

void	RemoveModel (const std::string &_name)
	Remove a model by name. More...

void	RemovePlugin (const std::string &_name)
	Remove a running plugin. More...

void	Reset ()
	Reset time and model poses, configurations in simulation. More...

void	ResetEntities (Base::EntityType _type=Base::BASE)
	Reset with options. More...

void	ResetPhysicsStates ()
	Reset the velocity, acceleration, force and torque of all child models. More...

void	ResetTime ()
	Reset simulation time back to zero. More...

void	Run (unsigned int _iterations=0)
	Run the world in a thread. More...

void	RunBlocking (unsigned int _iterations=0)
	Run the world. More...

void	Save (const std::string &_filename)
	Save a world to a file. More...

bool	SensorsInitialized () const
	Get whether sensors have been initialized. More...

void	SetGravity (const ignition::math::Vector3d &_gravity)
	Set the gravity vector. More...

void	SetGravitySDF (const ignition::math::Vector3d &_gravity)
	Set the gravity sdf value. More...

void	SetMagneticField (const ignition::math::Vector3d &_mag)
	Set the magnetic field vector. More...

void	SetPaused (bool _p)
	Set whether the simulation is paused. More...

void	SetSimTime (const common::Time &_t)
	Set the sim time. More...

void	SetState (const WorldState &_state)
	Set the current world state. More...

void	Step (unsigned int _steps)
	Step the world forward in time. More...

void	Stop ()
	Stop the world. More...

std::string	StripWorldName (const std::string &_name) const
	Return a version of the name with "<world_name>::" removed. More...

std::string	UniqueModelName (const std::string &_name)
	Get a model name which doesn't overlap with any existing models, by appending numbers to the given name. More...

void	UpdateStateSDF ()
	Update the state SDF value from the current state. More...

Detailed Description

The world provides access to all other object within a simulated environment.

The World is the container for all models and their components (links, joints, sensors, plugins, etc), and WorldPlugin instances. Many core function are also handled in the World, including physics update, model updates, and message processing.

Constructor & Destructor Documentation

§ World()

World ( const std::string & _name = "" )

explicit

Constructor.

Constructor for the World. Must specify a unique name.

Parameters

[in] _name Name of the world.

§ ~World()

~World ( )

Destructor.

Member Function Documentation

§ _AddDirty()

void _AddDirty ( Entity * _entity )

§ _SetSensorsInitialized()

void _SetSensorsInitialized ( const bool _init )

§ Clear()

void Clear ( )

Remove all entities from the world.

This function has delayed effect. Models are cleared at the end of the current update iteration.

§ ClearModels()

void ClearModels ( )

Remove all entities from the world.

Implementation of World::Clear

§ DisableAllModels()

void DisableAllModels ( )

Disable all links in all the models.

Disable is a physics concept. Disabling means that the physics engine should not update an entity.

§ EnableAllModels()

void EnableAllModels ( )

Enable all links in all the models.

Enable is a physics concept. Enabling means that the physics engine should update an entity.

§ EnablePhysicsEngine()

void EnablePhysicsEngine ( bool _enable )

enable/disable physics engine during World::Update.

Parameters

[in] _enable True to enable the physics engine.

§ Fini()

void Fini ( )

Finalize the world.

Call this function to tear-down the world.

§ GetByName()

BasePtr GetByName ( const std::string & _name )

Get an element by name.

Searches the list of entities, and return a pointer to the model with a matching _name.

Parameters

[in] _name The name of the Model to find.

Returns: A pointer to the entity, or NULL if no entity was found.

§ GetEnablePhysicsEngine()

bool GetEnablePhysicsEngine ( )

check if physics engine is enabled/disabled.

Parameters

True	if the physics engine is enabled.

§ GetEntity()

EntityPtr GetEntity ( const std::string & _name )

Get a pointer to an Entity based on a name.

This function is the same as GetByName, but limits the search to only Entities.

Parameters

[in] _name The name of the Entity to find.

Returns: A pointer to the Entity, or NULL if no Entity was found.

§ GetEntityBelowPoint()

EntityPtr GetEntityBelowPoint ( const math::Vector3 & _pt )

Get the nearest entity below a point.

Projects a Ray down (-Z axis) starting at the given point. The first entity hit by the Ray is returned.

Parameters

[in] _pt The 3D point to search below

Returns: A pointer to nearest Entity, NULL if none is found.

§ GetIterations()

uint32_t GetIterations ( ) const

Get the total number of iterations.

Returns: Number of iterations that simulation has taken.

§ GetModel() [1/2]

ModelPtr GetModel ( unsigned int _index ) const

Get a model based on an index.

Get a Model using an index, where index must be greater than zero and less than World::GetModelCount()

Parameters

[in] _index The index of the model [0..GetModelCount)

Returns: A pointer to the Model. NULL if _index is invalid.

§ GetModel() [2/2]

ModelPtr GetModel ( const std::string & _name )

Get a model by name.

This function is the same as GetByName, but limits the search to only models.

Parameters

[in] _name The name of the Model to find.

Returns: A pointer to the Model, or NULL if no model was found.

§ GetModelBelowPoint()

ModelPtr GetModelBelowPoint ( const math::Vector3 & _pt )

Get the nearest model below and not encapsulating a point.

Only objects below the start point can be returned. Any object that encapsulates the start point can not be returned from this function. This function makes use of World::GetEntityBelowPoint.

Parameters

[in] _pt The 3D point to search below.

Returns: A pointer to nearest Model, NULL if none is found.

§ GetModelCount()

unsigned int GetModelCount ( ) const

Get the number of models.

Returns: The number of models in the World.

§ GetModels()

Model_V GetModels ( ) const

Get a list of all the models.

Returns: A list of all the Models in the world.

§ GetName()

std::string GetName ( ) const

Get the name of the world.

Returns: The name of the world.

§ GetPauseTime()

common::Time GetPauseTime ( ) const

Get the amount of time simulation has been paused.

Returns: The pause time.

§ GetPhysicsEngine()

PhysicsEnginePtr GetPhysicsEngine ( ) const

Return the physics engine.

Get a pointer to the physics engine used by the world.

Returns: Pointer to the physics engine.

§ GetPresetManager()

PresetManagerPtr GetPresetManager ( ) const

Return the preset manager.

Returns: Pointer to the preset manager.

§ GetRealTime()

common::Time GetRealTime ( ) const

Get the real time (elapsed time).

Returns: The real time.

§ GetRunning()

bool GetRunning ( ) const

Return the running state of the world.

Returns: True if the world is running.

§ GetSceneMsg()

msgs::Scene GetSceneMsg ( ) const

Get the current scene in message form.

Returns: The scene state as a protobuf message.

§ GetSetWorldPoseMutex()

boost::mutex* GetSetWorldPoseMutex ( ) const

Get the set world pose mutex.

Returns: Pointer to the mutex.

§ GetSimTime()

common::Time GetSimTime ( ) const

Get the world simulation time, note if you want the PC wall clock call common::Time::GetWallTime.

Returns: The current simulation time

§ GetSphericalCoordinates()

common::SphericalCoordinatesPtr GetSphericalCoordinates ( ) const

Return the spherical coordinates converter.

Returns: Pointer to the spherical coordinates converter.

§ GetStartTime()

common::Time GetStartTime ( ) const

Get the wall time simulation was started.

Returns: The start time.

§ Gravity()

ignition::math::Vector3d Gravity ( ) const

Return the gravity vector.

Returns: The gravity vector.

§ Init()

void Init ( )

Initialize the world.

This is called after Load.

§ InsertModelFile()

void InsertModelFile ( const std::string & _sdfFilename )

Insert a model from an SDF file.

Spawns a model into the world base on and SDF file.

Parameters

[in] _sdfFilename The name of the SDF file (including path).

§ InsertModelSDF()

void InsertModelSDF ( const sdf::SDF & _sdf )

Insert a model using SDF.

Spawns a model into the world base on and SDF object.

Parameters

[in] _sdf A reference to an SDF object.

§ InsertModelString()

void InsertModelString ( const std::string & _sdfString )

Insert a model from an SDF string.

Spawns a model into the world base on and SDF string.

Parameters

[in] _sdfString A string containing valid SDF markup.

§ IsLoaded()

bool IsLoaded ( ) const

Return true if the world has been loaded.

Returns: True if World::Load has completed.

§ IsPaused()

bool IsPaused ( ) const

Returns the state of the simulation true if paused.

Returns: True if paused.

§ Light()

LightPtr Light ( const std::string & _name )

Get a light by name.

This function is the same as GetByName, but limits the search to only lights.

Parameters

[in] _name The name of the Light to find.

Returns: A pointer to the Light, or NULL if no light was found.

§ LightCount()

unsigned int LightCount ( ) const

Get the number of lights.

Returns: The number of lights in the World.

§ Lights()

Light_V Lights ( ) const

Get a list of all the lights.

Returns: A list of all the Lights in the world.

§ Load()

void Load ( sdf::ElementPtr _sdf )

Load the world using SDF parameters.

Load a world from and SDF pointer.

Parameters

[in] _sdf SDF parameters.

§ LoadPlugin()

void LoadPlugin	(	const std::string &	_filename,
		const std::string &	_name,
		sdf::ElementPtr	_sdf
	)

Load a plugin.

Parameters

[in]	_filename	The filename of the plugin.
[in]	_name	A unique name for the plugin.
[in]	_sdf	The SDF to pass into the plugin.

§ MagneticField()

virtual ignition::math::Vector3d MagneticField ( ) const

virtual

Return the magnetic field vector.

Returns: The magnetic field vector.

§ PrintEntityTree()

void PrintEntityTree ( )

Print Entity tree.

Prints alls the entities to stdout.

§ PublishLightPose()

void PublishLightPose ( const physics::LightPtr _light )

Publish pose updates for a light.

Adds light to a list of lights to publish, which is processed and cleared once every iteration.

Parameters

[in] _light Pointer to the light to publish.

§ PublishModelPose()

void PublishModelPose ( physics::ModelPtr _model )

Publish pose updates for a model.

This list of models to publish is processed and cleared once every iteration.

Parameters

[in] _model Pointer to the model to publish.

§ PublishModelScale()

void PublishModelScale ( physics::ModelPtr _model )

Publish scale updates for a model.

This list of models to publish is processed and cleared once every iteration.

Parameters

[in] _model Pointer to the model to publish.

§ RemoveModel() [1/2]

void RemoveModel ( ModelPtr _model )

Remove a model.

This function will block until the physics engine is not locked. The duration of the block is less than the time to complete a simulation iteration.

Parameters

[in] _model Pointer to a model to remove.

§ RemoveModel() [2/2]

void RemoveModel ( const std::string & _name )

Remove a model by name.

This function will block until the physics engine is not locked. The duration of the block is less than the time to complete a simulation iteration.

Parameters

[in] _name Name of the model to remove.

§ RemovePlugin()

void RemovePlugin ( const std::string & _name )

Remove a running plugin.

Parameters

[in] _name The unique name of the plugin to remove.

§ Reset()

void Reset ( )

Reset time and model poses, configurations in simulation.

§ ResetEntities()

void ResetEntities ( Base::EntityType _type = Base::BASE )

Reset with options.

The _type parameter specifies which type of eneities to reset. See Base::EntityType.

Parameters

[in] _type The type of reset.

§ ResetPhysicsStates()

void ResetPhysicsStates ( )

Reset the velocity, acceleration, force and torque of all child models.

§ ResetTime()

void ResetTime ( )

Reset simulation time back to zero.

§ Run()

void Run ( unsigned int _iterations = 0 )

Run the world in a thread.

Run the update loop.

Parameters

[in] _iterations Run for this many iterations, then stop. A value of zero disables run stop.

§ RunBlocking()

void RunBlocking ( unsigned int _iterations = 0 )

Run the world.

This call blocks. Run the update loop.

Parameters

[in] _iterations Run for this many iterations, then stop. A value of zero disables run stop.

§ Save()

void Save ( const std::string & _filename )

Save a world to a file.

Save the current world and its state to a file.

Parameters

[in] _filename Name of the file to save into.

§ SensorsInitialized()

bool SensorsInitialized ( ) const

Get whether sensors have been initialized.

Returns: True if sensors have been initialized.

§ SetGravity()

void SetGravity ( const ignition::math::Vector3d & _gravity )

Set the gravity vector.

Parameters

[in] _gravity New gravity vector.

§ SetGravitySDF()

void SetGravitySDF ( const ignition::math::Vector3d & _gravity )

Set the gravity sdf value.

Parameters

[in] _gravity New gravity vector.

§ SetMagneticField()

void SetMagneticField ( const ignition::math::Vector3d & _mag )

Set the magnetic field vector.

Parameters

[in] _mag New magnetic field vector.

§ SetPaused()

void SetPaused ( bool _p )

Set whether the simulation is paused.

Parameters

[in] _p True pauses the simulation. False runs the simulation.

§ SetSimTime()

void SetSimTime ( const common::Time & _t )

Set the sim time.

Parameters

[in] _t The new simulation time

§ SetState()

void SetState ( const WorldState & _state )

Set the current world state.

Parameters

_state The state to set the World to.

§ Step()

void Step ( unsigned int _steps )

Step the world forward in time.

Parameters

[in] _steps The number of steps the World should take.

§ Stop()

void Stop ( )

Stop the world.

Stop the update loop.

§ StripWorldName()

std::string StripWorldName ( const std::string & _name ) const

Return a version of the name with "<world_name>::" removed.

Parameters

[in] _name Usually the name of an entity.

Returns: The stripped world name.

§ UniqueModelName()

std::string UniqueModelName ( const std::string & _name )

Get a model name which doesn't overlap with any existing models, by appending numbers to the given name.

If _name is already, unique, the returned value is the same.

Parameters

[in] _name Desired model name.

Returns: Unique model name.

§ UpdateStateSDF()

void UpdateStateSDF ( )

Update the state SDF value from the current state.

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

World.hh

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

§ World()

§ ~World()

Member Function Documentation

§ _AddDirty()

§ _SetSensorsInitialized()

§ Clear()

§ ClearModels()

§ DisableAllModels()

§ EnableAllModels()

§ EnablePhysicsEngine()

§ Fini()

§ GetByName()

§ GetEnablePhysicsEngine()

§ GetEntity()

§ GetEntityBelowPoint()

§ GetIterations()

§ GetModel() [1/2]

§ GetModel() [2/2]

§ GetModelBelowPoint()

§ GetModelCount()

§ GetModels()

§ GetName()

§ GetPauseTime()

§ GetPhysicsEngine()

§ GetPresetManager()

§ GetRealTime()

§ GetRunning()

§ GetSceneMsg()

§ GetSetWorldPoseMutex()

§ GetSimTime()

§ GetSphericalCoordinates()

§ GetStartTime()

§ Gravity()

§ Init()

§ InsertModelFile()

§ InsertModelSDF()

§ InsertModelString()

§ IsLoaded()

§ IsPaused()

§ Light()

§ LightCount()

§ Lights()

§ Load()

§ LoadPlugin()

§ MagneticField()

§ PrintEntityTree()

§ PublishLightPose()

§ PublishModelPose()

§ PublishModelScale()

§ RemoveModel() [1/2]

§ RemoveModel() [2/2]

§ RemovePlugin()

§ Reset()

§ ResetEntities()

§ ResetPhysicsStates()

§ ResetTime()

§ Run()

§ RunBlocking()

§ Save()

§ SensorsInitialized()

§ SetGravity()

§ SetGravitySDF()

§ SetMagneticField()

§ SetPaused()

§ SetSimTime()

§ SetState()

§ Step()

§ Stop()

§ StripWorldName()

§ UniqueModelName()

§ UpdateStateSDF()