##

Collision Class Referenceabstract
Physics

Base class for all collision entities. More...

`#include <Collision.hh>`

Inherits Entity.

Inherited by BulletCollision, DARTCollision, ODECollision, and SimbodyCollision.

## Public Types

enum

EntityType {
BASE = 0x00000000, ENTITY = 0x00000001, MODEL = 0x00000002, LINK = 0x00000004,
COLLISION = 0x00000008, 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,
ACTOR = 0x00008000, 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

| Collision (LinkPtr _link)
| Constructor. More...
virtual | ~Collision ()
| Destructor. More...
void | AddChild (BasePtr _child)
| Add a child to this entity. More...
void | AddType (EntityType _type)
| Add a type specifier. More...
virtual ignition::math::Box | BoundingBox () const =0
| Get the bounding box for this collision. More...
ignition::math::Box | CollisionBoundingBox () const
| Returns collision bounding box. More...
const ignition::math::Pose3d & | DirtyPose () const
| Returns Entity::dirtyPose. More...
void | FillMsg (msgs::Collision &_msg)
| Fill a collision message. More...
virtual void | Fini ()
| Finalize the collision. More...
BasePtr | GetByName (const std::string &_name)
| Get by name. More...
BasePtr | GetChild (const std::string &_name)
| Get a child by name. More...
BasePtr | GetChild (unsigned int _i) const
| Get a child by index. More...
CollisionPtr | GetChildCollision (const std::string &_name)
| Get a child collision entity, if one exists. More...
unsigned int | GetChildCount () const
| Get the number of children. More...
LinkPtr | GetChildLink (const std::string &_name)
| Get a child linke entity, if one exists. More...
uint32_t | GetId () const
| Return the ID of this entity. More...
float | GetLaserRetro () const
| Get the laser retro reflectiveness. More...
LinkPtr | GetLink () const
| Get the link this collision belongs to. More...
virtual unsigned int | GetMaxContacts ()
| returns number of contacts allowed for this collision. More...
ModelPtr | GetModel () const
| Get the model this collision belongs to. More...
std::string | GetName () const
| Return the name of the entity. More...
void | GetNearestEntityBelow (double &_distBelow, std::string &_entityName)
| Get the distance to the nearest entity below (along the Z-axis) this entity. More...
BasePtr | GetParent () const
| Get the parent. More...
int | GetParentId () const
| Return the ID of the parent. More...
ModelPtr | GetParentModel ()
| Get the parent model, if one exists. More...
bool | GetSaveable () const
| Get whether the object should be "saved", when the user selects to save the world to xml. 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...
ShapePtr | GetShape () const
| Get the collision shape. More...
unsigned int | GetShapeType () const
| Get the shape type. More...
CollisionState | GetState ()
| Get the collision state. More...
SurfaceParamsPtr | GetSurface () const
| Get the surface parameters. 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...
virtual void | Init ()
| Initialize the collision. More...
ignition::math::Pose3d | InitialRelativePose () const
| Get the initial relative pose. More...
bool | IsCanonicalLink () const
| A helper function that checks if this is a canonical body. More...
bool | IsPlaceable () const
| Return whether this collision is movable. More...
bool | IsSelected () const
| True if the entity is selected by the user. More...
bool | IsStatic () const
| Return whether this entity is static. More...
virtual void | Load (sdf::ElementPtr _sdf)
| Load the collision. More...
bool | operator== (const Base &_ent) const
| Returns true if the entities are the same. More...
void | PlaceOnEntity (const std::string &_entityName)
| Move this entity to be ontop of another entity by name. More...
void | PlaceOnNearestEntityBelow ()
| Move this entity to be ontop of the nearest entity below. More...
void | Print (const std::string &_prefix)
| Print this object to screen via gzmsg. More...
void | ProcessMsg (const msgs::Collision &_msg)
| Update parameters from a message. More...
virtual ignition::math::Vector3d | RelativeAngularAccel () const
| Get the angular acceleration of the collision. More...
virtual ignition::math::Vector3d | RelativeAngularVel () const
| Get the angular velocity of the collision. More...
virtual ignition::math::Vector3d | RelativeLinearAccel () const
| Get the linear acceleration of the collision. More...
virtual ignition::math::Vector3d | RelativeLinearVel () const
| Get the linear velocity of the collision. More...
ignition::math::Pose3d | RelativePose () const
| Get the pose of the entity relative to its parent. More...
void | RemoveChild (const std::string &_name)
| Remove a child by name. More...
void | RemoveChild (physics::BasePtr _child)
| Remove a child by pointer. More...
virtual void | RemoveChild (unsigned int _id)
| Remove a child from this entity. More...
void | RemoveChildren ()
| Remove all children. More...
virtual void | Reset ()
| Reset the entity. 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...
virtual void | Reset (Base::EntityType _resetType)
| Calls recursive Reset on one of the Base::EntityType's. More...
void | SetAnimation (common::PoseAnimationPtr _anim)
| Set an animation for this entity. More...
void | SetAnimation (const common::PoseAnimationPtr &_anim, boost::function< void()> _onComplete)
| Set an animation for this entity. More...
void | SetCanonicalLink (bool _value)
| Set to true if this entity is a canonical link for a model. More...
virtual void | SetCategoryBits (unsigned int _bits)=0
| Set the category bits, used during collision detection. More...
virtual void | SetCollideBits (unsigned int _bits)=0
| Set the collide bits, used during collision detection. More...
void | SetCollision (bool _placeable)
| Set the encapsulated collision object. More...
void | SetInitialRelativePose (const ignition::math::Pose3d &_pose)
| Set the initial pose. More...
void | SetLaserRetro (float _retro)
| Set the laser retro reflectiveness. More...
virtual void | SetMaxContacts (unsigned int _maxContacts)
| Number of contacts allowed for this collision. More...
virtual void | SetName (const std::string &_name)
| Set the name of the entity. More...
void | SetParent (BasePtr _parent)
| Set the parent. More...
void | SetPlaceable (const bool _placeable)
| Set if this object is moveable. More...
void | SetRelativePose (const ignition::math::Pose3d &_pose, const bool _notify=true, const bool _publish=true)
| Set the pose of the entity relative to its parent. More...
void | SetSaveable (bool _v)
| Set whether the object should be "saved", when the user selects to save the world to xml. More...
void | SetScale (const ignition::math::Vector3d &_scale)
| Set the scale of the collision. More...
virtual bool | SetSelected (bool _show)
| Set whether this entity has been selected by the user through the gui. More...
void | SetShape (ShapePtr _shape)
| Set the shape for this collision. More...
void | SetState (const CollisionState &_state)
| Set the current collision state. More...
void | SetStatic (const bool &_static)
| Set whether this entity is static: immovable. More...
void | SetWorld (const WorldPtr &_newWorld)
| Set the world this object belongs to. More...
void | SetWorldPose (const ignition::math::Pose3d &_pose, const bool _notify=true, const bool _publish=true)
| Set the world pose of the entity. More...
void | SetWorldPoseDirty ()
| Indicate that the world pose should be recalculated. More...
void | SetWorldTwist (const ignition::math::Vector3d &_linear, const ignition::math::Vector3d &_angular, const bool _updateChildren=true)
| Set angular and linear rates of an physics::Entity. More...
virtual void | StopAnimation ()
| Stop the current animation, if any. More...
std::string | TypeStr () const
| Get the string name for the entity type. More...
virtual void | Update ()
| Update the object. More...
virtual void | UpdateParameters (sdf::ElementPtr _sdf)
| Update the parameters using new sdf values. More...
common::URI | URI () const
| Return the common::URI of this entity. More...
virtual ignition::math::Vector3d | WorldAngularAccel () const
| Get the angular acceleration of the collision in the world frame. More...
virtual ignition::math::Vector3d | WorldAngularVel () const
| Get the angular velocity of the collision in the world frame. More...
virtual ignition::math::Vector3d | WorldLinearAccel () const
| Get the linear acceleration of the collision in the world frame. More...
virtual ignition::math::Vector3d | WorldLinearVel () const
| Get the linear velocity of the collision in the world frame. More...
virtual const ignition::math::Pose3d & | WorldPose () const
| Get the absolute pose of the entity. More...

## Protected Member Functions

void | ComputeScopedName ()
| Compute the scoped name of this object based on its parents. More...
virtual void | OnPoseChange ()=0
| This function is called when the entity's (or one of its parents) pose of the parent has changed. More...
virtual void | RegisterIntrospectionItems ()
| Register items in the introspection service. More...
virtual void | UnregisterIntrospectionItems ()
| Unregister items in the introspection service. More...

## Protected Attributes

common::PoseAnimationPtr | animation
| Current pose animation. More...
event::ConnectionPtr | animationConnection
| Connection used to update an animation. More...
ignition::math::Pose3d | animationStartPose
| Start pose of an animation. More...
Base_V | children
| Children of this entity. More...
std::vector< event::ConnectionPtr > | connections
| All our event connections. More...
ignition::math::Pose3d | dirtyPose
| The pose set by a physics engine. More...
std::vector< common::URI > | introspectionItems
| All the introspection items regsitered for this. More...
LinkPtr | link
| The link this collision belongs to. More...
transport::NodePtr | node
| Communication node. More...
ignition::transport::Node | nodeIgn
| Ignition communication node. More...
BasePtr | parent
| Parent of this entity. More...
EntityPtr | parentEntity
| A helper that prevents numerous dynamic_casts. More...
bool | placeable
| Flag for placeable. More...
common::Time | prevAnimationTime
| Previous time an animation was updated. More...
transport::PublisherPtr | requestPub
| Request publisher. More...
ignition::transport::Node::Publisher | requestPubIgn
| Request publisher. More...
ignition::math::Vector3d | scale
| Scale of the entity. More...
sdf::ElementPtr | sdf
| The SDF values for this object. More...
ShapePtr | shape
| Pointer to physics::Shape. More...
SurfaceParamsPtr | surface
| The surface parameters. More...
transport::PublisherPtr | visPub
| Visual publisher. More...
ignition::transport::Node::Publisher | visPubIgn
| Visual publisher. More...
msgs::Visual * | visualMsg
| Visual message container. More...
WorldPtr | world
| Pointer to the world. More...
ignition::math::Pose3d | worldPose
| World pose of the entity. More...

## Detailed Description

Base class for all collision entities.

## 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.
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.
ACTOR | Actor 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

## Collision()

Collision | ( | LinkPtr | _link | ) |

explicit

Constructor.

Parameters

  [in] | _link | Link that contains this collision object.

## ~Collision()

virtual ~Collision | ( |  | ) |

virtual

Destructor.

## Member Function Documentation

## AddChild()

void AddChild | ( | BasePtr | _child | ) |

inherited

Add a child to this entity.

Parameters

  [in] | _child | Child entity.

## AddType()

void AddType | ( | EntityType | _type | ) |

inherited

Add a type specifier.

Parameters

  [in] | _type | New type to append to this objects type definition.

## BoundingBox()

virtual ignition::math::Box BoundingBox | ( |  | ) | const

pure virtual

Get the bounding box for this collision.

Returns
  The bounding box.

Reimplemented from Entity.

Implemented in ODECollision, BulletCollision, DARTCollision, and SimbodyCollision.

## CollisionBoundingBox()

ignition::math::Box CollisionBoundingBox | ( |  | ) | const

inherited

Returns collision bounding box.

Returns
  Collsion bounding box.

## ComputeScopedName()

void ComputeScopedName | ( |  | ) |

protected inherited

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

See also
  Base::GetScopedName

## DirtyPose()

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

inherited

Returns Entity::dirtyPose.

The dirty pose is the pose set by the physics engine before it's value is propagated to the rest of the simulator.

Returns
  The dirty pose of the entity.

## FillMsg()

void FillMsg | ( | msgs::Collision & | _msg | ) |

Fill a collision message.

Parameters

  [out] | _msg | The message to fill with this collision's data.

## Fini()

virtual void Fini | ( |  | ) |

virtual

Finalize the collision.

Reimplemented from Entity.

Reimplemented in DARTCollision, and ODECollision.

## GetByName()

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

inherited

Get by name.

Parameters

  [in] | _name | Get a child (or self) object by name

Returns
  A pointer to the object, NULL if not found

## GetChild() [1/2]

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

inherited

Get a child by name.

Parameters

  [in] | _name | Name of the child.

Returns
  A pointer to the object, NULL if not found

## GetChild() [2/2]

BasePtr GetChild | ( | unsigned int | _i | ) | const

inherited

Get a child by index.

Parameters

  [in] | _i | Index of the child to retreive.

Returns
  A pointer to the object, NULL if the index is invalid.

## GetChildCollision()

CollisionPtr GetChildCollision | ( | const std::string & | _name | ) |

inherited

Get a child collision entity, if one exists.

Parameters

  [in] | _name | Name of the child collision object.

Returns
  Pointer to the Collision object, or NULL if not found.

## GetChildCount()

unsigned int GetChildCount | ( |  | ) | const

inherited

Get the number of children.

Returns
  The number of children.

## GetChildLink()

LinkPtr GetChildLink | ( | const std::string & | _name | ) |

inherited

Get a child linke entity, if one exists.

Parameters

  [in] | _name | Name of the child Link object.

Returns
  Pointer to the Link object, or NULL if not found.

## GetId()

uint32_t GetId | ( |  | ) | const

inherited

Return the ID of this entity.

This id is unique.

Returns
  Integer ID.

## GetLaserRetro()

float GetLaserRetro | ( |  | ) | const

Get the laser retro reflectiveness.

Returns
  The laser retro value.

## GetLink()

LinkPtr GetLink | ( |  | ) | const

Get the link this collision belongs to.

Returns
  The parent Link.

## GetMaxContacts()

virtual unsigned int GetMaxContacts | ( |  | ) |

virtual

returns number of contacts allowed for this collision.

This overrides global value (in PhysicsEngine) if specified.

Returns
  max num contacts allowed for this collision.

## GetModel()

ModelPtr GetModel | ( |  | ) | const

Get the model this collision belongs to.

Returns
  The parent model.

## GetName()

std::string GetName | ( |  | ) | const

inherited

Return the name of the entity.

Returns
  Name of the entity.

## GetNearestEntityBelow()

void GetNearestEntityBelow | ( | double & | _distBelow,
|  | std::string & | _entityName
| ) |  |

inherited

Get the distance to the nearest entity below (along the Z-axis) this entity.

Parameters

  [out] | _distBelow | The distance to the nearest entity below.
  [out] | _entityName | The name of the nearest entity below.

## GetParent()

BasePtr GetParent | ( |  | ) | const

inherited

Get the parent.

Returns
  Pointer to the parent entity.

## GetParentId()

int GetParentId | ( |  | ) | const

inherited

Return the ID of the parent.

Returns
  Integer ID.

## GetParentModel()

ModelPtr GetParentModel | ( |  | ) |

inherited

Get the parent model, if one exists.

Returns
  Pointer to a model, or NULL if no parent model exists.

## 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.

## GetScopedName()

std::string GetScopedName | ( | bool | _prependWorldName = `false` | ) | const

inherited

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

Parameters

  [in] | _prependWorldName | True to prended the returned string with the world name. The result will be world::model1::...::modelN::entityName.

Returns
  The scoped name.

## GetSDF()

virtual const sdf::ElementPtr GetSDF | ( |  | ) |

virtual inherited

Get the SDF values for the object.

Returns
  The SDF values for the object.

Reimplemented in Actor, and Model.

## GetShape()

ShapePtr GetShape | ( |  | ) | const

Get the collision shape.

Returns
  The collision shape.

## GetShapeType()

unsigned int GetShapeType | ( |  | ) | const

Get the shape type.

Returns
  The shape type.

See also
  EntityType

## GetState()

CollisionState GetState | ( |  | ) |

Get the collision state.

Returns
  The collision state.

## GetSurface()

SurfaceParamsPtr GetSurface | ( |  | ) | const

inline

Get the surface parameters.

Returns
  The surface parameters.

References Collision::surface.

## GetType()

unsigned int GetType | ( |  | ) | const

inherited

Get the full type definition.

Returns
  The full type definition.

## GetWorld()

const WorldPtr& GetWorld | ( |  | ) | const

inherited

Get the World this object is in.

Returns
  The World this object is part of.

## HasType()

bool HasType | ( | const EntityType & | _t | ) | const

inherited

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

Parameters

  [in] | _t | Type to check.

Returns
  True if this object's type definition has the.

## Init()

virtual void Init | ( |  | ) |

virtual

Initialize the collision.

Reimplemented from Base.

Reimplemented in DARTCollision.

## InitialRelativePose()

ignition::math::Pose3d InitialRelativePose | ( |  | ) | const

inherited

Get the initial relative pose.

Returns
  The initial relative pose.

## IsCanonicalLink()

bool IsCanonicalLink | ( |  | ) | const

inline inherited

A helper function that checks if this is a canonical body.

Returns
  True if the link is canonical.

## IsPlaceable()

bool IsPlaceable | ( |  | ) | const

Return whether this collision is movable.

Example on an immovable object is a ray.

Returns
  True if the object is immovable.

## IsSelected()

bool IsSelected | ( |  | ) | const

inherited

True if the entity is selected by the user.

Returns
  True if the entity is selected.

## IsStatic()

bool IsStatic | ( |  | ) | const

inherited

Return whether this entity is static.

Returns
  True if static.

## Load()

virtual void Load | ( | sdf::ElementPtr | _sdf | ) |

virtual

Load the collision.

Parameters

  [in] | _sdf | SDF to load from.

Reimplemented from Entity.

Reimplemented in ODECollision, DARTCollision, BulletCollision, and SimbodyCollision.

## OnPoseChange()

virtual void OnPoseChange | ( |  | ) |

protected pure virtual inherited

This function is called when the entity's (or one of its parents) pose of the parent has changed.

Implemented in Model, Link, ODECollision, Light, DARTCollision, DARTLink, SimbodyLink, BulletCollision, BulletLink, ODELink, and SimbodyCollision.

## operator==()

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

inherited

Returns true if the entities are the same.

Checks only the name.

Parameters

  [in] | _ent | Base object to compare with.

Returns
  True if the entities are the same.

## PlaceOnEntity()

void PlaceOnEntity | ( | const std::string & | _entityName | ) |

inherited

Move this entity to be ontop of another entity by name.

Parameters

  [in] | _entityName | Name of the Entity this Entity should be ontop of.

## PlaceOnNearestEntityBelow()

void PlaceOnNearestEntityBelow | ( |  | ) |

inherited

Move this entity to be ontop of the nearest entity below.

## Print()

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

inherited

Print this object to screen via gzmsg.

Parameters

  [in] | _prefix | Usually a set of spaces.

## ProcessMsg()

void ProcessMsg | ( | const msgs::Collision & | _msg | ) |

Update parameters from a message.

Parameters

  [in] | _msg | Message to update from.

## RegisterIntrospectionItems()

virtual void RegisterIntrospectionItems | ( |  | ) |

protected virtual inherited

Register items in the introspection service.

Reimplemented in Link, Joint, and Model.

## RelativeAngularAccel()

virtual ignition::math::Vector3d RelativeAngularAccel | ( |  | ) | const

virtual

Get the angular acceleration of the collision.

Returns
  The angular acceleration of the collision.

Reimplemented from Entity.

## RelativeAngularVel()

virtual ignition::math::Vector3d RelativeAngularVel | ( |  | ) | const

virtual

Get the angular velocity of the collision.

Returns
  The angular velocity of the collision.

Reimplemented from Entity.

## RelativeLinearAccel()

virtual ignition::math::Vector3d RelativeLinearAccel | ( |  | ) | const

virtual

Get the linear acceleration of the collision.

Returns
  The linear acceleration of the collision.

Reimplemented from Entity.

## RelativeLinearVel()

virtual ignition::math::Vector3d RelativeLinearVel | ( |  | ) | const

virtual

Get the linear velocity of the collision.

Returns
  The linear velocity relative to the parent model.

Reimplemented from Entity.

## RelativePose()

ignition::math::Pose3d RelativePose | ( |  | ) | const

inherited

Get the pose of the entity relative to its parent.

Returns
  The pose of the entity relative to its parent.

## RemoveChild() [1/3]

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

inherited

Remove a child by name.

Parameters

  [in] | _name | Name of the child.

## RemoveChild() [2/3]

void RemoveChild | ( | physics::BasePtr | _child | ) |

inherited

Remove a child by pointer.

Parameters

  [in] | _child | Pointer to the child.

## RemoveChild() [3/3]

virtual void RemoveChild | ( | unsigned int | _id | ) |

virtual inherited

Remove a child from this entity.

Parameters

  [in] | _id | ID of the child to remove.

## RemoveChildren()

void RemoveChildren | ( |  | ) |

inherited

Remove all children.

## Reset() [1/4]

virtual void Reset | ( |  | ) |

virtual inherited

Reset the entity.

Reimplemented from Base.

Reimplemented in Actor, Model, and Link.

## Reset() [2/4]

virtual void Reset

inherited

Reset the object.

## Reset() [3/4]

virtual void Reset

inherited

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

Parameters

  [in] | _resetType | The type of reset operation

## Reset() [4/4]

virtual void Reset | ( | Base::EntityType | _resetType | ) |

virtual inherited

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

Parameters

  [in] | _resetType | The type of reset operation

## SetAnimation() [1/2]

void SetAnimation | ( | common::PoseAnimationPtr | _anim | ) |

inherited

Set an animation for this entity.

Parameters

  [in] | _anim | Pose animation.

## SetAnimation() [2/2]

void SetAnimation | ( | const common::PoseAnimationPtr & | _anim,
|  | boost::function< void()> | _onComplete
| ) |  |

inherited

Set an animation for this entity.

Parameters

  [in] | _anim | Pose animation.
  [in] | _onComplete | Callback for when the animation completes.

## SetCanonicalLink()

void SetCanonicalLink | ( | bool | _value | ) |

inherited

Set to true if this entity is a canonical link for a model.

Parameters

  [in] | _value | True if the link is canonical.

## SetCategoryBits()

virtual void SetCategoryBits | ( | unsigned int | _bits | ) |

pure virtual

Set the category bits, used during collision detection.

Parameters

  [in] | _bits | The bits to set.

Implemented in ODECollision, DARTCollision, BulletCollision, and SimbodyCollision.

## SetCollideBits()

virtual void SetCollideBits | ( | unsigned int | _bits | ) |

pure virtual

Set the collide bits, used during collision detection.

Parameters

  [in] | _bits | The bits to set.

Implemented in ODECollision, BulletCollision, DARTCollision, and SimbodyCollision.

## SetCollision()

void SetCollision | ( | bool | _placeable | ) |

Set the encapsulated collision object.

Has a side effect of changing the collision bit masks

Parameters

  [in] | _placeable | True to make the object movable.

## SetInitialRelativePose()

void SetInitialRelativePose | ( | const ignition::math::Pose3d & | _pose | ) |

inherited

Set the initial pose.

Parameters

  [in] | _pose | The initial pose.

## SetLaserRetro()

void SetLaserRetro | ( | float | _retro | ) |

Set the laser retro reflectiveness.

Parameters

  [in] | _retro | The laser retro value.

## SetMaxContacts()

virtual void SetMaxContacts | ( | unsigned int | _maxContacts | ) |

virtual

Number of contacts allowed for this collision.

This overrides global value (in PhysicsEngine) if specified.

Parameters

  [in] | _maxContacts | max num contacts allowed for this collision.

## SetName()

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

virtual inherited

Set the name of the entity.

Parameters

  [in] | _name | The new name.

Reimplemented from Base.

## SetParent()

void SetParent | ( | BasePtr | _parent | ) |

inherited

Set the parent.

Parameters

  [in] | _parent | Parent object.

## SetPlaceable()

void SetPlaceable | ( | const bool | _placeable | ) |

Set if this object is moveable.

Parameters

  [in] | _placeable | True to make the object movable.

## SetRelativePose()

void SetRelativePose | ( | const ignition::math::Pose3d & | _pose,
|  | const bool | _notify = `true`,
|  | const bool | _publish = `true`
| ) |  |

inherited

Set the pose of the entity relative to its parent.

Parameters

  [in] | _pose | The new pose.
  [in] | _notify | True = tell children of the pose change.
  [in] | _publish | True to publish the pose.

## 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] | _v | Set to True if the object should be saved.

## SetScale()

void SetScale | ( | const ignition::math::Vector3d & | _scale | ) |

Set the scale of the collision.

Parameters

  [in] | _scale | Scale to set the collision to.

## SetSelected()

virtual bool SetSelected | ( | bool | _show | ) |

virtual inherited

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

Parameters

  [in] | _show | True to set this entity as selected.

Reimplemented in Link.

## SetShape()

void SetShape | ( | ShapePtr | _shape | ) |

Set the shape for this collision.

Parameters

  [in] | _shape | The shape for this collision object.

## SetState()

void SetState | ( | const CollisionState & | _state | ) |

Set the current collision state.

Parameters

  [in] | The | collision state.

## SetStatic()

void SetStatic | ( | const bool & | _static | ) |

inherited

Set whether this entity is static: immovable.

Parameters

  [in] | _static | True = static.

## 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] | _newWorld | The new World this object is part of.

## SetWorldPose()

void SetWorldPose | ( | const ignition::math::Pose3d & | _pose,
|  | const bool | _notify = `true`,
|  | const bool | _publish = `true`
| ) |  |

inherited

Set the world pose of the entity.

Parameters

  [in] | _pose | The new world pose.
  [in] | _notify | True = tell children of the pose change.
  [in] | _publish | True to publish the pose.

## SetWorldPoseDirty()

void SetWorldPoseDirty | ( |  | ) |

Indicate that the world pose should be recalculated.

The recalculation will be done when Collision::GetWorldPose is called.

## SetWorldTwist()

void SetWorldTwist | ( | const ignition::math::Vector3d & | _linear,
|  | const ignition::math::Vector3d & | _angular,
|  | const bool | _updateChildren = `true`
| ) |  |

inherited

Set angular and linear rates of an physics::Entity.

Parameters

  [in] | _linear | Linear twist.
  [in] | _angular | Angular twist.
  [in] | _updateChildren | True to pass this update to child entities.

## StopAnimation()

virtual void StopAnimation | ( |  | ) |

virtual inherited

Stop the current animation, if any.

Reimplemented in Model.

## TypeStr()

std::string TypeStr | ( |  | ) | const

inherited

Get the string name for the entity type.

Returns
  The string name for this entity.

## UnregisterIntrospectionItems()

virtual void UnregisterIntrospectionItems | ( |  | ) |

protected virtual inherited

Unregister items in the introspection service.

## Update()

virtual void Update | ( |  | ) |

inline virtual inherited

Update the object.

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

## UpdateParameters()

virtual void UpdateParameters | ( | sdf::ElementPtr | _sdf | ) |

virtual

Update the parameters using new sdf values.

Parameters

  [in] | _sdf | SDF values to update from.

Reimplemented from Entity.

## URI()

common::URI URI | ( |  | ) | const

inherited

Return the common::URI of this entity.

The URI includes the world where the entity is contained and all the hierarchy of sub-entities that can compose this entity. E.g.: A link entity contains the name of the link and the model where the link is contained.

Returns
  The URI of this entity.

## WorldAngularAccel()

virtual ignition::math::Vector3d WorldAngularAccel | ( |  | ) | const

virtual

Get the angular acceleration of the collision in the world frame.

Returns
  The angular acceleration of the collision in the world frame.

Reimplemented from Entity.

## WorldAngularVel()

virtual ignition::math::Vector3d WorldAngularVel | ( |  | ) | const

virtual

Get the angular velocity of the collision in the world frame.

Returns
  The angular velocity of the collision in the world frame.

Reimplemented from Entity.

## WorldLinearAccel()

virtual ignition::math::Vector3d WorldLinearAccel | ( |  | ) | const

virtual

Get the linear acceleration of the collision in the world frame.

Returns
  The linear acceleration of the collision in the world frame.

Reimplemented from Entity.

## WorldLinearVel()

virtual ignition::math::Vector3d WorldLinearVel | ( |  | ) | const

virtual

Get the linear velocity of the collision in the world frame.

Returns
  The linear velocity of the collision in the world frame.

Reimplemented from Entity.

## WorldPose()

virtual const ignition::math::Pose3d& WorldPose | ( |  | ) | const

virtual

Get the absolute pose of the entity.

Returns
  The absolute pose of the entity.

Reimplemented from Entity.

## Member Data Documentation

## animation

common::PoseAnimationPtr animation

protected inherited

Current pose animation.

## animationConnection

event::ConnectionPtr animationConnection

protected inherited

Connection used to update an animation.

## animationStartPose

ignition::math::Pose3d animationStartPose

protected inherited

Start pose of an animation.

## children

Base_V children

protected inherited

Children of this entity.

## connections

std::vector<event::ConnectionPtr> connections

protected inherited

All our event connections.

## dirtyPose

ignition::math::Pose3d dirtyPose

protected inherited

The pose set by a physics engine.

## introspectionItems

std::vector<common::URI> introspectionItems

protected inherited

All the introspection items regsitered for this.

## link

LinkPtr link

protected

The link this collision belongs to.

## node

transport::NodePtr node

protected inherited

Communication node.

## nodeIgn

ignition::transport::Node nodeIgn

protected inherited

Ignition communication node.

## parent

BasePtr parent

protected inherited

Parent of this entity.

## parentEntity

EntityPtr parentEntity

protected inherited

A helper that prevents numerous dynamic_casts.

## placeable

bool placeable

protected

Flag for placeable.

## prevAnimationTime

common::Time prevAnimationTime

protected inherited

Previous time an animation was updated.

## requestPub

transport::PublisherPtr requestPub

protected inherited

Request publisher.

## requestPubIgn

ignition::transport::Node::Publisher requestPubIgn

protected inherited

Request publisher.

## scale

ignition::math::Vector3d scale

protected inherited

Scale of the entity.

## sdf

sdf::ElementPtr sdf

protected inherited

The SDF values for this object.

## shape

ShapePtr shape

protected

Pointer to physics::Shape.

## surface

SurfaceParamsPtr surface

protected

The surface parameters.

Referenced by Collision::GetSurface().

## visPub

transport::PublisherPtr visPub

protected inherited

Visual publisher.

## visPubIgn

ignition::transport::Node::Publisher visPubIgn

protected inherited

Visual publisher.

## visualMsg

msgs::Visual* visualMsg

protected inherited

Visual message container.

## world

WorldPtr world

protected inherited

Pointer to the world.

## worldPose

ignition::math::Pose3d worldPose

mutable protected inherited

World pose of the entity.

Referenced by Entity::WorldPose().

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

- Collision.hh