##

CollisionState Class Reference
Physics

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

`#include <physics/phyiscs.hh>`

Inherits State.

## Public Member Functions

| CollisionState ()
| Default constructor. More...
| CollisionState (const CollisionPtr _collision)
| Constructor. More...
| CollisionState (const sdf::ElementPtr _sdf)
| Constructor. More...
virtual | ~CollisionState ()
| Destructor. More...
void | FillSDF (sdf::ElementPtr _sdf)
| Populate a state SDF element with data from the object. 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...
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...
common::Time | GetWallTime () const
| Get the wall time when this state was generated. More...
bool | IsZero () const
| Return true if the values in the state are zero. More...
virtual void | Load (const sdf::ElementPtr _elem)
| Load state from SDF element. More...
CollisionState | operator+ (const CollisionState &_state) const
| Addition operator. More...
CollisionState | operator- (const CollisionState &_state) const
| Subtraction operator. More...
State | operator- (const State &_state) const
| Subtraction operator. More...
CollisionState & | operator= (const CollisionState &_state)
| Assignment operator. More...
const ignition::math::Pose3d & | Pose () const
| Get the Collision pose. More...
virtual void | SetIterations (const uint64_t _iterations)
| Set the 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 = 0
| 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::CollisionState &_state)
| Stream insertion operator. More...

## Detailed Description

Store state information of a physics::Collision object.

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

State of a Collision is its Pose.

## Constructor & Destructor Documentation

## CollisionState() [1/3]

CollisionState | ( |  | ) |

Default constructor.

## CollisionState() [2/3]

CollisionState | ( | const CollisionPtr | _collision | ) |

explicit

Constructor.

Build a CollisionState from an existing Collision.

Parameters

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

## CollisionState() [3/3]

CollisionState | ( | const sdf::ElementPtr | _sdf | ) |

explicit

Constructor.

Build a CollisionState from SDF data

Parameters

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

## ~CollisionState()

virtual ~CollisionState | ( |  | ) |

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.

## 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.

## 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.

## 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.

## 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()

virtual void Load | ( | const sdf::ElementPtr | _elem | ) |

virtual

Load state from SDF element.

Load CollisionState information from stored data in and SDF::Element

Parameters

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

Reimplemented from State.

## operator+()

CollisionState operator+ | ( | const CollisionState & | _state | ) | const

Addition operator.

Parameters

  [in] | _pt | A state to add.

Returns
  The resulting state.

## operator-() [1/2]

CollisionState operator- | ( | const CollisionState & | _state | ) | const

Subtraction operator.

Parameters

  [in] | _pt | A state to substract.

Returns
  The resulting state.

## operator-() [2/2]

State operator- | ( | const State & | _state | ) | const

inherited

Subtraction operator.

Parameters

  [in] | _pt | A state to substract.

Returns
  The resulting state.

## operator=()

CollisionState& operator= | ( | const CollisionState & | _state | ) |

Assignment operator.

Parameters

  [in] | _state | State value

Returns
  Reference to this

## Pose()

const ignition::math::Pose3d& Pose | ( |  | ) | const

Get the Collision pose.

Returns
  The pose of the CollisionState

## SetIterations()

virtual void SetIterations | ( | const uint64_t | _iterations | ) |

virtual inherited

Set the iterations when this state was generated.

Parameters

  [in] | _iterations | Iterations when the data was recorded.

Reimplemented in ModelState, WorldState, and LinkState.

## 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 inherited

Set the real time when this state was generated.

Parameters

  [in] | _time | Clock time since simulation was stated.

Reimplemented in ModelState, WorldState, and LinkState.

## SetSimTime()

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

virtual inherited

Set the sim time when this state was generated.

Parameters

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

Reimplemented in ModelState, WorldState, and LinkState.

## SetWallTime()

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

virtual inherited

Set the wall time when this state was generated.

Parameters

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

Reimplemented in ModelState, WorldState, and LinkState.

## Friends And Related Function Documentation

## operator<<

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

friend

Stream insertion operator.

Parameters

  [in] | _out | output stream
  [in] | _state | Collision state to output

Returns
  the stream

## Member Data Documentation

## iterations

uint64_t iterations = 0

protected inherited

The number of simulation iterations when this state was generated.

## name

std::string name

protected inherited

Name associated with this State.

## realTime

common::Time realTime

protected inherited

## simTime

common::Time simTime

protected inherited

## wallTime

common::Time wallTime

protected inherited

Times for the state data.

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

- CollisionState.hh