##

ServerFixture Class Reference

`#include <ServerFixture.hh>`

Inherits Test.

Inherited by RenderingFixture.

## Protected Member Functions

| ServerFixture ()
| Constructor. More...
virtual | ~ServerFixture ()
| Destructor. More...
void | DoubleCompare (double *_scanA, double *_scanB, unsigned int _sampleCount, double &_diffMax, double &_diffSum, double &_diffAvg)
| Function to compare two double arrays (for example two laser scans). More...
ignition::math::Pose3d | EntityPose (const std::string &_name)
| Get the pose of an entity. More...
void | FloatCompare (float *_scanA, float *_scanB, unsigned int _sampleCount, float &_diffMax, float &_diffSum, float &_diffAvg)
| Function to compare two float arrays (for example two laser scans). More...
void | GetFrame (const std::string &_cameraName, unsigned char **_imgData, unsigned int &_width, unsigned int &_height)
| Get an image frame from a camera. More...
void | GetMemInfo (double &_resident, double &_share)
| Get the current memory information. More...
physics::ModelPtr | GetModel (const std::string &_name)
| Get a pointer to a model. More...
double | GetPercentRealTime () const
| Get the real-time factor. More...
rendering::ScenePtr | GetScene (const std::string &_sceneName="default")
| Get a pointer to the rendering scene. More...
std::string | GetUniqueString (const std::string &_prefix)
| Get unique string with a specified prefix. More...
bool | HasEntity (const std::string &_name)
| Return true if the named entity exists. More...
void | ImageCompare (unsigned char *_imageA, unsigned char *_imageB, unsigned int _width, unsigned int _height, unsigned int _depth, unsigned int &_diffMax, unsigned int &_diffSum, double &_diffAvg)
| Function to compare two images. More...
virtual void | Load (const std::string &_worldFilename)
| Load a world based on a filename. More...
virtual void | Load (const std::string &_worldFilename, bool _paused)
| Load a world based on a filename and set simulation paused/un-paused. More...
virtual void | Load (const std::string &_worldFilename, bool _paused, const std::string &_physics, const std::vector< std::string > &_systemPlugins={})
| Load a world based on a filename and set simulation paused/un-paused, and specify physics engine. More...
virtual void | LoadArgs (const std::string &_args)
| Load a world in gzserver. More...
void | LoadPlugin (const std::string &_filename, const std::string &_name)
| Load a plugin. More...
void | OnPose (ConstPosesStampedPtr &_msg)
| Function that received poses messages from a running simulation. More...
void | OnStats (ConstWorldStatisticsPtr &_msg)
| Function that received world stastics messages. More...
void | PrintImage (const std::string &_name, unsigned char **_image, unsigned int _width, unsigned int _height, unsigned int _depth)
| Print image data to screen. More...
void | PrintScan (const std::string &_name, double *_scan, unsigned int _sampleCount)
| Print laser scan to screen. More...
void | Record (const std::string &_name, const double _data)
| Helper to record data to gtest xml output. More...
void | Record (const std::string &_prefix, const ignition::math::SignalStats &_stats)
| Helper to record signal statistics to gtest xml output. More...
void | Record (const std::string &_prefix, const ignition::math::Vector3Stats &_stats)
| Helper to record Vector3d signal statistics to gtest xml output. More...
void | RemoveModel (const std::string &_name)
| Remove a model by name. More...
void | RemovePlugin (const std::string &_name)
| Remove a plugin. More...
void | RunServer (const std::vector< std::string > &_args)
| Run the server. More...
void | SetPause (bool _pause)
| Set a running simulation paused/unpaused. More...
void | SpawnBox (const std::string &_name, const ignition::math::Vector3d &_size=ignition::math::Vector3d::One, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
| Spawn a box. More...

void

SpawnCamera (const std::string &_modelName, const std::string &_cameraName, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, unsigned int _width=320, unsigned int _height=240, double _rate=25, const std::string &_noiseType="", double _noiseMean=0.0, double _noiseStdDev=0.0, bool _distortion=false, double _distortionK1=0.0, double _distortionK2=0.0, double _distortionK3=0.0, double _distortionP1=0.0, double _distortionP2=0.0, double _cx=0.5, double _cy=0.5)

| Spawn a camera. More...
void | SpawnCylinder (const std::string &_name, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
| Spawn a cylinder. More...
void | SpawnDepthCameraSensor (const std::string &_modelName, const std::string &_cameraName, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, const unsigned int _width=320, const unsigned int _height=240, const double _rate=25, const double _near=0.1, const double _far=10)
| Spawn a depth camera. More...
void | SpawnEmptyLink (const std::string &_name, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
| Spawn an empty link. More...

void

SpawnGpuRaySensor (const std::string &_modelName, const std::string &_raySensorName, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, double _hMinAngle=-2.0, double _hMaxAngle=2.0, double _minRange=0.08, double _maxRange=10, double _rangeResolution=0.01, unsigned int _samples=640, const std::string &_noiseType="", double _noiseMean=0.0, double _noiseStdDev=0.0)

| Spawn a gpu laser. More...

void

SpawnGpuRaySensorVertical (const std::string &_modelName, const std::string &_raySensorName, const ignition::math::Vector3d &_pos, const ignition::math::Vector3d &_rpy, double _hMinAngle=-2.0, double _hMaxAngle=2.0, double _vMinAngle=-1.0, double _vMaxAngle=1.0, double _minRange=0.08, double _maxRange=10, double _rangeResolution=0.01, unsigned int _samples=640, unsigned int _vSamples=1, double _hResolution=1.0, double _vResolution=1.0, const std::string &_noiseType="", double _noiseMean=0.0, double _noiseStdDev=0.0)

| Spawn a gpu laser. More...

void

SpawnImuSensor (const std::string &_modelName, const std::string &_imuSensorName, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, const std::string &_noiseType="", double _rateNoiseMean=0.0, double _rateNoiseStdDev=0.0, double _rateBiasMean=0.0, double _rateBiasStdDev=0.0, double _accelNoiseMean=0.0, double _accelNoiseStdDev=0.0, double _accelBiasMean=0.0, double _accelBiasStdDev=0.0)

| Spawn an imu sensor laser. More...

void

SpawnLight (const std::string &_name, const std::string &_type, const ignition::math::Vector3d &_pos, const ignition::math::Vector3d &_rpy, const common::Color &_diffuse, const common::Color &_specular=common::Color::White, const ignition::math::Vector3d &_direction=-ignition::math::Vector3d::UnitZ, double _attenuationRange=20, double _attenuationConstant=0.5, double _attenuationLinear=0.01, double _attenuationQuadratic=0.001, double _spotInnerAngle=0, double _spotOuterAngle=0, double _spotFallOff=0, bool _castShadows=true) GAZEBO_DEPRECATED(9.0)

| Spawn a light. More...

void

SpawnLight (const std::string &_name, const std::string &_type, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, const ignition::math::Color &_diffuse=ignition::math::Color::White, const ignition::math::Color &_specular=ignition::math::Color::White, const ignition::math::Vector3d &_direction=-ignition::math::Vector3d::UnitZ, const double _attenuationRange=20, const double _attenuationConstant=0.5, const double _attenuationLinear=0.01, const double _attenuationQuadratic=0.001, const double _spotInnerAngle=0, const double _spotOuterAngle=0, const double _spotFallOff=0, const bool _castShadows=true)

| Spawn a light. More...
physics::ModelPtr | SpawnModel (const msgs::Model &_msg)
| Spawn a model from a msgs::Model and return ModelPtr. More...
void | SpawnModel (const std::string &_filename)
| Spawn a model from file. More...

void

SpawnRaySensor (const std::string &_modelName, const std::string &_raySensorName, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, double _hMinAngle=-2.0, double _hMaxAngle=2.0, double _vMinAngle=-1.0, double _vMaxAngle=1.0, double _minRange=0.08, double _maxRange=10, double _rangeResolution=0.01, unsigned int _samples=640, unsigned int _vSamples=1, double _hResolution=1.0, double _vResolution=1.0, const std::string &_noiseType="", double _noiseMean=0.0, double _noiseStdDev=0.0)

| Spawn a laser. More...
void | SpawnSDF (const std::string &_sdf)
| Send a factory message based on an SDF string. More...
sensors::SonarSensorPtr | SpawnSonar (const std::string &_modelName, const std::string &_sonarName, const ignition::math::Pose3d &_pose, const double _minRange, const double _maxRange, const double _radius)
| Spawn a sonar. More...
void | SpawnSphere (const std::string &_name, const ignition::math::Vector3d &_pos, const ignition::math::Vector3d &_rpy, bool _wait=true, bool _static=false)
| Spawn a sphere. More...
void | SpawnSphere (const std::string &_name, const ignition::math::Vector3d &_pos, const ignition::math::Vector3d &_rpy, const ignition::math::Vector3d &_cog, double _radius=1.0, bool _wait=true, bool _static=false)
| Spawn a sphere. More...
void | SpawnTrimesh (const std::string &_name, const std::string &_modelPath, const ignition::math::Vector3d &_scale=ignition::math::Vector3d::One, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
| Spawn a triangle mesh. More...
void | SpawnUnitAltimeterSensor (const std::string &_name, const std::string &_sensorName, const std::string &_collisionType, const std::string &_topic, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
| Spawn an altimeter sensor on a link. More...
void | SpawnUnitContactSensor (const std::string &_name, const std::string &_sensorName, const std::string &_collisionType, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
| Spawn a contact sensor with the specified collision geometry. More...
void | SpawnUnitImuSensor (const std::string &_name, const std::string &_sensorName, const std::string &_collisionType, const std::string &_topic, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
| Spawn an IMU sensor on a link. More...
void | SpawnUnitMagnetometerSensor (const std::string &_name, const std::string &_sensorName, const std::string &_collisionType, const std::string &_topic, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, bool _static=false)
| Spawn a magnetometer sensor on a link. More...

void

SpawnWideAngleCamera (const std::string &_modelName, const std::string &_cameraName, const ignition::math::Vector3d &_pos=ignition::math::Vector3d::Zero, const ignition::math::Vector3d &_rpy=ignition::math::Vector3d::Zero, unsigned int _width=320, unsigned int _height=240, double _rate=25, const double _hfov=60, const std::string &_lensType="stereographic", const bool _scaleToHfov=true, const double _cutoffAngle=3.1415, const double _envTextureSize=512, const double _c1=1.05, const double _c2=4, const double _f=1.0, const std::string &_fun="tan")

| Spawn a wide angle camera. More...
void | SpawnWirelessReceiverSensor (const std::string &_name, const std::string &_sensorName, const ignition::math::Vector3d &_pos, const ignition::math::Vector3d &_rpy, double _minFreq, double _maxFreq, double _power, double _gain, double _sensitivity, bool _visualize=true)
| Spawn an Wireless receiver sensor on a link. More...
void | SpawnWirelessTransmitterSensor (const std::string &_name, const std::string &_sensorName, const ignition::math::Vector3d &_pos, const ignition::math::Vector3d &_rpy, const std::string &_essid, double _freq, double _power, double _gain, bool _visualize=true)
| Spawn an Wireless transmitter sensor on a link. More...
virtual void | TearDown ()
| Tear down the test fixture. This gets called by gtest. More...
virtual void | Unload ()
| Unload the test fixture. More...
void | WaitUntilEntitySpawn (const std::string &_name, unsigned int _sleepEach, int _retries)
| Wait for a number of ms. More...
void | WaitUntilIteration (const uint32_t _goalIteration, const int _sleepEach, const int _retries) const
| Wait for a number of ms. More...
void | WaitUntilSensorSpawn (const std::string &_name, unsigned int _sleepEach, int _retries)
| Wait for a number of ms. More...
void | WaitUntilSimTime (const common::Time &_goalTime, const int _ms, const int _maxRetries) const
| Wait for a number of ms. More...

## Static Protected Member Functions

template<typename T >
static void | CheckPointer (boost::shared_ptr< T > _ptr)
| Check that a pointer is not NULL. More...

## Protected Attributes

transport::PublisherPtr | factoryPub
| Factory publisher. More...
transport::NodePtr | node
| Pointer to a node for communication. More...
common::Time | pauseTime
std::map< std::string, ignition::math::Pose3d > | poses
| Map of received poses. More...
transport::SubscriberPtr | poseSub
| Pose subscription. More...
common::Time | realTime
std::mutex | receiveMutex
| Mutex to protect data structures that store messages. More...
transport::PublisherPtr | requestPub
| Request publisher. More...
Server * | server
| Pointer the Gazebo server. More...
boost::thread * | serverThread
| Pointer the thread the runs the server. More...
common::Time | simTime
| Current simulation time, real time, and pause time. More...
transport::SubscriberPtr | statsSub
| World statistics subscription. More...

## Constructor & Destructor Documentation

## ServerFixture()

ServerFixture | ( |  | ) |

protected

Constructor.

## ~ServerFixture()

virtual ~ServerFixture | ( |  | ) |

protected virtual

Destructor.

## Member Function Documentation

## CheckPointer()

static void CheckPointer | ( | boost::shared_ptr< T > | _ptr | ) |

inline static protected

Check that a pointer is not NULL.

A function is created for this purpose, since ASSERT's cannot be called from non-void functions.

Parameters

  [in] | _ptr | Pointer to verify is not NULL.

References NULL.

## DoubleCompare()

void DoubleCompare | ( | double * | _scanA,
|  | double * | _scanB,
|  | unsigned int | _sampleCount,
|  | double & | _diffMax,
|  | double & | _diffSum,
|  | double & | _diffAvg
| ) |  |

protected

Function to compare two double arrays (for example two laser scans).

Parameters

  [in] | _scanA | First double array.
  [in] | _scanB | Second double array.
  [in] | _sampleCount | Number of samples in each double array.
  [out] | _diffMax | Maximum difference between the two arrays.
  [out] | _diffSum | Sum of the differences between the two arrays.
  [out] | _diffAvg | Average difference between the two arrays.

## EntityPose()

ignition::math::Pose3d EntityPose | ( | const std::string & | _name | ) |

protected

Get the pose of an entity.

Parameters

  [in] | _name | Name of the entity.

Returns
  Pose of the named entity.

## FloatCompare()

void FloatCompare | ( | float * | _scanA,
|  | float * | _scanB,
|  | unsigned int | _sampleCount,
|  | float & | _diffMax,
|  | float & | _diffSum,
|  | float & | _diffAvg
| ) |  |

protected

Function to compare two float arrays (for example two laser scans).

Parameters

  [in] | _scanA | First float array.
  [in] | _scanB | Second float array.
  [in] | _sampleCount | Number of samples in each float array.
  [out] | _diffMax | Maximum difference between the two arrays.
  [out] | _diffSum | Sum of the differences between the two arrays.
  [out] | _diffAvg | Average difference between the two arrays.

## GetFrame()

void GetFrame | ( | const std::string & | _cameraName,
|  | unsigned char ** | _imgData,
|  | unsigned int & | _width,
|  | unsigned int & | _height
| ) |  |

protected

Get an image frame from a camera.

Parameters

  [in] | _cameraName | Name of the camera to get a frame from.
  [out] | _imgData | Array that receives the image data.
  [in] | _width | Width of the image frame.
  [in] | _height | Height of the image frame.

## GetMemInfo()

void GetMemInfo | ( | double & | _resident,
|  | double & | _share
| ) |  |

protected

Get the current memory information.

Parameters

  [out] | _resident | Resident memory.
  [out] | _share | Shared memory.

## GetModel()

physics::ModelPtr GetModel | ( | const std::string & | _name | ) |

protected

Get a pointer to a model.

Parameters

  [in] | _name | Name of the model to get.

Returns
  Pointer to the model, or NULL if the model was not found.

## GetPercentRealTime()

double GetPercentRealTime | ( |  | ) | const

protected

Get the real-time factor.

Returns
  The percent real time simulation is running.

## GetScene()

rendering::ScenePtr GetScene | ( | const std::string & | _sceneName = `"default"` | ) |

protected

Get a pointer to the rendering scene.

Parameters

  [in] | _sceneName | Name of the scene to get.

## GetUniqueString()

std::string GetUniqueString | ( | const std::string & | _prefix | ) |

protected

Get unique string with a specified prefix.

Parameters

  [in] | _prefix | Prefix for unique string.

Returns
  String with prefix and unique number as suffix.

## HasEntity()

bool HasEntity | ( | const std::string & | _name | ) |

protected

Return true if the named entity exists.

Parameters

  [in] | _name | Name of the entity to check for.

Returns
  True if the entity exists.

## ImageCompare()

void ImageCompare | ( | unsigned char * | _imageA,
|  | unsigned char * | _imageB,
|  | unsigned int | _width,
|  | unsigned int | _height,
|  | unsigned int | _depth,
|  | unsigned int & | _diffMax,
|  | unsigned int & | _diffSum,
|  | double & | _diffAvg
| ) |  |

protected

Function to compare two images.

Parameters

  [in] | _imageA | First image to compare.
  [in] | _imageB | Second image to compare.
  [in] | _width | Width of both images.
  [in] | _height | Height of both images.
  [in] | _depth | Depth of both images.
  [out] | _diffMax | Maximum difference between the two arrays.
  [out] | _diffSum | Sum of the differences between the two arrays.
  [out] | _diffAvg | Average difference between the two arrays.

## Load() [1/3]

virtual void Load | ( | const std::string & | _worldFilename | ) |

protected virtual

Load a world based on a filename.

Parameters

  [in] | _worldFilename | Name of the world to load.

## Load() [2/3]

virtual void Load | ( | const std::string & | _worldFilename,
|  | bool | _paused
| ) |  |

protected virtual

Load a world based on a filename and set simulation paused/un-paused.

Parameters

  [in] | _worldFilename | Name of the world to load.
  [in] | _paused | True to start the world paused.

## Load() [3/3]

virtual void Load | ( | const std::string & | _worldFilename,
|  | bool | _paused,
|  | const std::string & | _physics,
|  | const std::vector< std::string > & | _systemPlugins = `{}`
| ) |  |

protected virtual

Load a world based on a filename and set simulation paused/un-paused, and specify physics engine.

This versions allows plugins to be loaded (via the cmd line args)

Parameters

  [in] | _worldFilename | Name of the world to load.
  [in] | _paused | True to start the world paused.
  [in] | _physics | Name of the physics engine.
  [in] | _systemPlugins | Array of system plugins to load.

## LoadArgs()

virtual void LoadArgs | ( | const std::string & | _args | ) |

protected virtual

Load a world in gzserver.

Parameters

  [in] | _args | Options for the server using the same syntax used in the command line. E.g.: "-u --verbose" will run gzserver paused and in verbose mode.

## LoadPlugin()

void LoadPlugin | ( | const std::string & | _filename,
|  | const std::string & | _name
| ) |  |

protected

Load a plugin.

Parameters

  [in] | _filename | Plugin filename to load.
  [in] | _name | Name to associate with with the plugin.

## OnPose()

void OnPose | ( | ConstPosesStampedPtr & | _msg | ) |

protected

Function that received poses messages from a running simulation.

Parameters

  [in] | _msg | Pose message.

## OnStats()

void OnStats | ( | ConstWorldStatisticsPtr & | _msg | ) |

protected

Function that received world stastics messages.

Parameters

  [in] | _msg | World statistics message.

## PrintImage()

void PrintImage | ( | const std::string & | _name,
|  | unsigned char ** | _image,
|  | unsigned int | _width,
|  | unsigned int | _height,
|  | unsigned int | _depth
| ) |  |

protected

Print image data to screen.

This is used to generate test data.

Parameters

  [in] | _name | Name to associate with the printed data.
  [in] | _image | The raw image data.
  [in] | _width | Width of the image.
  [in] | _height | Height of the image.
  [in] | _depth | Pixel depth.

## PrintScan()

void PrintScan | ( | const std::string & | _name,
|  | double * | _scan,
|  | unsigned int | _sampleCount
| ) |  |

protected

Print laser scan to screen.

This is used to generate test data.

Parameters

  [in] | _name | Name to associate with the printed data.
  [in] | _scan | The laser scan data.
  [in] | _sampleCount | Number of samples in the scan data.

## Record() [1/3]

void Record | ( | const std::string & | _name,
|  | const double | _data
| ) |  |

protected

Helper to record data to gtest xml output.

Parameters

  [in] | _name | Name of data.
  [in] | _data | Floating point number to store.

## Record() [2/3]

void Record | ( | const std::string & | _prefix,
|  | const ignition::math::SignalStats & | _stats
| ) |  |

protected

Helper to record signal statistics to gtest xml output.

Parameters

  [in] | _prefix | Prefix string for data names.
  [in] | _stats | Signal statistics to store.

## Record() [3/3]

void Record | ( | const std::string & | _prefix,
|  | const ignition::math::Vector3Stats & | _stats
| ) |  |

protected

Helper to record Vector3d signal statistics to gtest xml output.

Parameters

  [in] | _prefix | Prefix string for data names.
  [in] | _stats | Vector3d signal statistics to store.

## RemoveModel()

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

protected

Remove a model by name.

Parameters

  [in] | _name | Name of the model to remove.

## RemovePlugin()

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

protected

Remove a plugin.

Parameters

  [in] | _name | Name of the plugin to remove.

## RunServer()

void RunServer | ( | const std::vector< std::string > & | _args | ) |

protected

Run the server.

Parameters

  [in] | _args | Vector of options for the server using the same syntax used in the command line. E.g.: {"-u", "--verbose"} will run gzserver paused and in verbose mode.

## SetPause()

void SetPause | ( | bool | _pause | ) |

protected

Set a running simulation paused/unpaused.

## SpawnBox()

void SpawnBox | ( | const std::string & | _name,
|  | const ignition::math::Vector3d & | _size = `ignition::math::Vector3d::One`,
|  | const ignition::math::Vector3d & | _pos = `ignition::math::Vector3d::Zero`,
|  | const ignition::math::Vector3d & | _rpy = `ignition::math::Vector3d::Zero`,
|  | bool | _static = `false`
| ) |  |

protected

Spawn a box.

Parameters

  [in] | _name | Name for the model.
  [in] | _size | Size of the box.
  [in] | _pos | Position for the model.
  [in] | _rpy | Roll, pitch, yaw for the model.
  [in] | _static | True to make the model static.

## SpawnCamera()

void SpawnCamera | ( | const std::string & | _modelName,
|  | const std::string & | _cameraName,
|  | const ignition::math::Vector3d & | _pos = `ignition::math::Vector3d::Zero`,
|  | const ignition::math::Vector3d & | _rpy = `ignition::math::Vector3d::Zero`,
|  | unsigned int | _width = `320`,
|  | unsigned int | _height = `240`,
|  | double | _rate = `25`,
|  | const std::string & | _noiseType = `""`,
|  | double | _noiseMean = `0.0`,
|  | double | _noiseStdDev = `0.0`,
|  | bool | _distortion = `false`,
|  | double | _distortionK1 = `0.0`,
|  | double | _distortionK2 = `0.0`,
|  | double | _distortionK3 = `0.0`,
|  | double | _distortionP1 = `0.0`,
|  | double | _distortionP2 = `0.0`,
|  | double | _cx = `0.5`,
|  | double | _cy = `0.5`
| ) |  |

protected

Spawn a camera.

Parameters

  [in] | _modelName | Name of the model.
  [in] | _cameraName | Name of the camera.
  [in] | _pos | Camera position.
  [in] | _rpy | Camera roll, pitch, yaw.
  [in] | _width | Output image width.
  [in] | _height | Output image height.
  [in] | _rate | Output Hz.
  [in] | _noiseType | Type of noise to apply.
  [in] | _noiseMean | Mean noise value.
  [in] | _noiseStdDev | Standard deviation of the noise.
  [in] | _distortion | Flag to enable distortion.
  [in] | _distortionK1 | Distortion coefficient k1.
  [in] | _distortionK2 | Distortion coefficient k2.
  [in] | _distortionK3 | Distortion coefficient k3.
  [in] | _distortionP1 | Distortion coefficient P1.
  [in] | _distortionP2 | Distortion coefficient p2.
  [in] | _cx | Normalized optical center x, used for distortion.
  [in] | _cy | Normalized optical center y, used for distortion.

## SpawnCylinder()

void SpawnCylinder | ( | const std::string & | _name,
|  | const ignition::math::Vector3d & | _pos = `ignition::math::Vector3d::Zero`,
|  | const ignition::math::Vector3d & | _rpy = `ignition::math::Vector3d::Zero`,
|  | bool | _static = `false`
| ) |  |

protected

Spawn a cylinder.

Parameters

  [in] | _name | Name for the model.
  [in] | _pos | Position for the model.
  [in] | _rpy | Roll, pitch, yaw for the model.
  [in] | _static | True to make the model static.

## SpawnDepthCameraSensor()

void SpawnDepthCameraSensor | ( | const std::string & | _modelName,
|  | const std::string & | _cameraName,
|  | const ignition::math::Vector3d & | _pos = `ignition::math::Vector3d::Zero`,
|  | const ignition::math::Vector3d & | _rpy = `ignition::math::Vector3d::Zero`,
|  | const unsigned int | _width = `320`,
|  | const unsigned int | _height = `240`,
|  | const double | _rate = `25`,
|  | const double | _near = `0.1`,
|  | const double | _far = `10`
| ) |  |

protected

Spawn a depth camera.

Parameters

  [in] | _modelName | Name of the model.
  [in] | _cameraName | Name of the camera.
  [in] | _pos | Camera position.
  [in] | _rpy | Camera roll, pitch, yaw.
  [in] | _width | Output image width.
  [in] | _height | Output image height.
  [in] | _rate | Output Hz.
  [in] | _near | Near clipping distance
  [in] | _far | Far clipping distance

## SpawnEmptyLink()

void SpawnEmptyLink | ( | const std::string & | _name,
|  | const ignition::math::Vector3d & | _pos = `ignition::math::Vector3d::Zero`,
|  | const ignition::math::Vector3d & | _rpy = `ignition::math::Vector3d::Zero`,
|  | bool | _static = `false`
| ) |  |

protected

Spawn an empty link.

Parameters

  [in] | _name | Name for the model.
  [in] | _pos | Position for the model.
  [in] | _rpy | Roll, pitch, yaw for the model.
  [in] | _static | True to make the model static.

## SpawnGpuRaySensor()

void SpawnGpuRaySensor | ( | const std::string & | _modelName,
|  | const std::string & | _raySensorName,
|  | const ignition::math::Vector3d & | _pos = `ignition::math::Vector3d::Zero`,
|  | const ignition::math::Vector3d & | _rpy = `ignition::math::Vector3d::Zero`,
|  | double | _hMinAngle = `-2.0`,
|  | double | _hMaxAngle = `2.0`,
|  | double | _minRange = `0.08`,
|  | double | _maxRange = `10`,
|  | double | _rangeResolution = `0.01`,
|  | unsigned int | _samples = `640`,
|  | const std::string & | _noiseType = `""`,
|  | double | _noiseMean = `0.0`,
|  | double | _noiseStdDev = `0.0`
| ) |  |

protected

Spawn a gpu laser.

Parameters

  [in] | _modelName | Name of the model.
  [in] | _raySensorName | Name of the laser.
  [in] | _pos | Camera position.
  [in] | _rpy | Camera roll, pitch, yaw.
  [in] | _hMinAngle | Horizontal min angle
  [in] | _hMaxAngle | Horizontal max angle
  [in] | _minRange | Min range
  [in] | _maxRange | Max range
  [in] | _rangeResolution | Resolution of the scan
  [in] | _samples | Number of samples.
  [in] | _noiseType | Type of noise to apply.
  [in] | _noiseMean | Mean noise value.
  [in] | _noiseStdDev | Standard deviation of the noise.

## SpawnGpuRaySensorVertical()

void SpawnGpuRaySensorVertical | ( | const std::string & | _modelName,
|  | const std::string & | _raySensorName,
|  | const ignition::math::Vector3d & | _pos,
|  | const ignition::math::Vector3d & | _rpy,
|  | double | _hMinAngle = `-2.0`,
|  | double | _hMaxAngle = `2.0`,
|  | double | _vMinAngle = `-1.0`,
|  | double | _vMaxAngle = `1.0`,
|  | double | _minRange = `0.08`,
|  | double | _maxRange = `10`,
|  | double | _rangeResolution = `0.01`,
|  | unsigned int | _samples = `640`,
|  | unsigned int | _vSamples = `1`,
|  | double | _hResolution = `1.0`,
|  | double | _vResolution = `1.0`,
|  | const std::string & | _noiseType = `""`,
|  | double | _noiseMean = `0.0`,
|  | double | _noiseStdDev = `0.0`
| ) |  |

protected

Spawn a gpu laser.

Parameters

  [in] | _modelName | Name of the model.
  [in] | _raySensorName | Name of the laser.
  [in] | _pos | Camera position.
  [in] | _rpy | Camera roll, pitch, yaw.
  [in] | _hMinAngle | Horizontal min angle
  [in] | _hMaxAngle | Horizontal max angle
  [in] | _vMinAngle | Vertical min angle
  [in] | _vMaxAngle | Vertical max angle
  [in] | _minRange | Min range
  [in] | _maxRange | Max range
  [in] | _rangeResolution | Resolution of the scan
  [in] | _samples | Number of samples.
  [in] | _vSamples | Vertical number of samples.
  [in] | _hResolution | horizontal resolution.
  [in] | _vResolution | vertical resolution.
  [in] | _noiseType | Type of noise to apply.
  [in] | _noiseMean | Mean noise value.
  [in] | _noiseStdDev | Standard deviation of the noise.

## SpawnImuSensor()

void SpawnImuSensor | ( | const std::string & | _modelName,
|  | const std::string & | _imuSensorName,
|  | const ignition::math::Vector3d & | _pos = `ignition::math::Vector3d::Zero`,
|  | const ignition::math::Vector3d & | _rpy = `ignition::math::Vector3d::Zero`,
|  | const std::string & | _noiseType = `""`,
|  | double | _rateNoiseMean = `0.0`,
|  | double | _rateNoiseStdDev = `0.0`,
|  | double | _rateBiasMean = `0.0`,
|  | double | _rateBiasStdDev = `0.0`,
|  | double | _accelNoiseMean = `0.0`,
|  | double | _accelNoiseStdDev = `0.0`,
|  | double | _accelBiasMean = `0.0`,
|  | double | _accelBiasStdDev = `0.0`
| ) |  |

protected

Spawn an imu sensor laser.

Parameters

  [in] | _modelName | Name of the model.
  [in] | _imuSensorName | Name of the imu sensor.
  [in] | _pos | Camera position.
  [in] | _rpy | Camera roll, pitch, yaw.
  [in] | _noiseType | Type of noise to apply.
  [in] | _noiseMean | Mean noise value.
  [in] | _noiseStdDev | Standard deviation of the noise.
  [in] | _accelNoiseMean | Acceleration based noise mean.
  [in] | _accelNoiseStdDev | Acceleration based noise standard deviation.
  [in] | _accelBiasMean | Acceleration mean bias
  [in] | _accelBiasStdDev | Acceleration standard deviation bias

## SpawnLight() [1/2]

void SpawnLight | ( | const std::string & | _name,
|  | const std::string & | _type,
|  | const ignition::math::Vector3d & | _pos,
|  | const ignition::math::Vector3d & | _rpy,
|  | const common::Color & | _diffuse,
|  | const common::Color & | _specular = `common::Color::White`,
|  | const ignition::math::Vector3d & | _direction = `-ignition::math::Vector3d::UnitZ`,
|  | double | _attenuationRange = `20`,
|  | double | _attenuationConstant = `0.5`,
|  | double | _attenuationLinear = `0.01`,
|  | double | _attenuationQuadratic = `0.001`,
|  | double | _spotInnerAngle = `0`,
|  | double | _spotOuterAngle = `0`,
|  | double | _spotFallOff = `0`,
|  | bool | _castShadows = `true`
| ) |  |

protected

Spawn a light.

Parameters

  [in] | _name | Name for the light.
  [in] | _size | Type of light - "spot", "directional", or "point".
  [in] | _pos | Position for the light.
  [in] | _rpy | Roll, pitch, yaw for the light.
  [in] | _diffuse | Diffuse color of the light.
  [in] | _specular | Specular color of the light.
  [in] | _direction | Direction of the light ("spot" and "directional").
  [in] | _attenuationRange | Range of attenuation.
  [in] | _attenuationConstant | Constant component of attenuation
  [in] | _attenuationLinear | Linear component of attenuation
  [in] | _attenuationQuadratic | Quadratic component of attenuation
  [in] | _spotInnerAngle | Inner angle ("spot" only).
  [in] | _spotOuterAngle | Outer angle ("spot" only).
  [in] | _spotFallOff | Fall off ("spot" only).
  [in] | _castShadows | True to cast shadows.

Deprecated:
  See SpawnLight version with ignition::math::Color.

## SpawnLight() [2/2]

void SpawnLight | ( | const std::string & | _name,
|  | const std::string & | _type,
|  | const ignition::math::Vector3d & | _pos = `ignition::math::Vector3d::Zero`,
|  | const ignition::math::Vector3d & | _rpy = `ignition::math::Vector3d::Zero`,
|  | const ignition::math::Color & | _diffuse = `ignition::math::Color::White`,
|  | const ignition::math::Color & | _specular = `ignition::math::Color::White`,
|  | const ignition::math::Vector3d & | _direction = `-ignition::math::Vector3d::UnitZ`,
|  | const double | _attenuationRange = `20`,
|  | const double | _attenuationConstant = `0.5`,
|  | const double | _attenuationLinear = `0.01`,
|  | const double | _attenuationQuadratic = `0.001`,
|  | const double | _spotInnerAngle = `0`,
|  | const double | _spotOuterAngle = `0`,
|  | const double | _spotFallOff = `0`,
|  | const bool | _castShadows = `true`
| ) |  |

protected

Spawn a light.

Parameters

  [in] | _name | Name for the light.
  [in] | _type | Type of light - "spot", "directional", or "point".
  [in] | _pos | Position for the light.
  [in] | _rpy | Roll, pitch, yaw for the light.
  [in] | _diffuse | Diffuse color of the light.
  [in] | _specular | Specular color of the light.
  [in] | _direction | Direction of the light ("spot" and "directional").
  [in] | _attenuationRange | Range of attenuation.
  [in] | _attenuationConstant | Constant component of attenuation
  [in] | _attenuationLinear | Linear component of attenuation
  [in] | _attenuationQuadratic | Quadratic component of attenuation
  [in] | _spotInnerAngle | Inner angle ("spot" only).
  [in] | _spotOuterAngle | Outer angle ("spot" only).
  [in] | _spotFallOff | Fall off ("spot" only).
  [in] | _castShadows | True to cast shadows.

## SpawnModel() [1/2]

physics::ModelPtr SpawnModel | ( | const msgs::Model & | _msg | ) |

protected

Spawn a model from a msgs::Model and return ModelPtr.

Parameters

  [in] | _msg | Model message.

Returns
  Pointer to model.

## SpawnModel() [2/2]

void SpawnModel | ( | const std::string & | _filename | ) |

protected

Spawn a model from file.

Parameters

  [in] | _filename | File to load a model from.

## SpawnRaySensor()

void SpawnRaySensor | ( | const std::string & | _modelName,
|  | const std::string & | _raySensorName,
|  | const ignition::math::Vector3d & | _pos = `ignition::math::Vector3d::Zero`,
|  | const ignition::math::Vector3d & | _rpy = `ignition::math::Vector3d::Zero`,
|  | double | _hMinAngle = `-2.0`,
|  | double | _hMaxAngle = `2.0`,
|  | double | _vMinAngle = `-1.0`,
|  | double | _vMaxAngle = `1.0`,
|  | double | _minRange = `0.08`,
|  | double | _maxRange = `10`,
|  | double | _rangeResolution = `0.01`,
|  | unsigned int | _samples = `640`,
|  | unsigned int | _vSamples = `1`,
|  | double | _hResolution = `1.0`,
|  | double | _vResolution = `1.0`,
|  | const std::string & | _noiseType = `""`,
|  | double | _noiseMean = `0.0`,
|  | double | _noiseStdDev = `0.0`
| ) |  |

protected

Spawn a laser.

Parameters

  [in] | _modelName | Name of the model.
  [in] | _raySensorName | Name of the laser.
  [in] | _pos | Camera position.
  [in] | _rpy | Camera roll, pitch, yaw.
  [in] | _hMinAngle | Horizontal min angle
  [in] | _hMaxAngle | Horizontal max angle
  [in] | _minRange | Min range
  [in] | _maxRange | Max range
  [in] | _rangeResolution | Resolution of the scan
  [in] | _samples | Number of samples.
  [in] | _rate | Output Hz.
  [in] | _noiseType | Type of noise to apply.
  [in] | _noiseMean | Mean noise value.
  [in] | _noiseStdDev | Standard deviation of the noise.

## SpawnSDF()

void SpawnSDF | ( | const std::string & | _sdf | ) |

protected

Send a factory message based on an SDF string.

Parameters

  [in] | _sdf | SDF string to publish.

## SpawnSonar()

sensors::SonarSensorPtr SpawnSonar | ( | const std::string & | _modelName,
|  | const std::string & | _sonarName,
|  | const ignition::math::Pose3d & | _pose,
|  | const double | _minRange,
|  | const double | _maxRange,
|  | const double | _radius
| ) |  |

protected

Spawn a sonar.

Parameters

  [in] | _modelName | Name of the model.
  [in] | _sonarName | Name of the sonar.
  [in] | _pose | Sonar pose.
  [in] | _minRange | Minimum sonar range.
  [in] | _maxRange | Maximum sonar range.
  [in] | _radius | Sonar cone radius.

## SpawnSphere() [1/2]

void SpawnSphere | ( | const std::string & | _name,
|  | const ignition::math::Vector3d & | _pos,
|  | const ignition::math::Vector3d & | _rpy,
|  | bool | _wait = `true`,
|  | bool | _static = `false`
| ) |  |

protected

Spawn a sphere.

Parameters

  [in] | _name | Name for the model.
  [in] | _pos | Position for the model.
  [in] | _rpy | Roll, pitch, yaw for the model.
  [in] | _static | True to make the model static.
  [in] | _wait | True to wait for the sphere to spawn before returning.

## SpawnSphere() [2/2]

void SpawnSphere | ( | const std::string & | _name,
|  | const ignition::math::Vector3d & | _pos,
|  | const ignition::math::Vector3d & | _rpy,
|  | const ignition::math::Vector3d & | _cog,
|  | double | _radius = `1.0`,
|  | bool | _wait = `true`,
|  | bool | _static = `false`
| ) |  |

protected

Spawn a sphere.

Parameters

  [in] | _name | Name for the model.
  [in] | _pos | Position for the model.
  [in] | _rpy | Roll, pitch, yaw for the model.
  [in] | _cog | Center of gravity.
  [in] | _radius | Sphere radius.
  [in] | _static | True to make the model static.
  [in] | _wait | True to wait for the sphere to spawn before returning.

## SpawnTrimesh()

void SpawnTrimesh | ( | const std::string & | _name,
|  | const std::string & | _modelPath,
|  | const ignition::math::Vector3d & | _scale = `ignition::math::Vector3d::One`,
|  | const ignition::math::Vector3d & | _pos = `ignition::math::Vector3d::Zero`,
|  | const ignition::math::Vector3d & | _rpy = `ignition::math::Vector3d::Zero`,
|  | bool | _static = `false`
| ) |  |

protected

Spawn a triangle mesh.

Parameters

  [in] | _name | Name for the model.
  [in] | _modelPath | Path to the mesh file.
  [in] | _scale | Scaling factor.
  [in] | _pos | Position for the model.
  [in] | _rpy | Roll, pitch, yaw for the model.
  [in] | _static | True to make the model static.

## SpawnUnitAltimeterSensor()

void SpawnUnitAltimeterSensor | ( | const std::string & | _name,
|  | const std::string & | _sensorName,
|  | const std::string & | _collisionType,
|  | const std::string & | _topic,
|  | const ignition::math::Vector3d & | _pos = `ignition::math::Vector3d::Zero`,
|  | const ignition::math::Vector3d & | _rpy = `ignition::math::Vector3d::Zero`,
|  | bool | _static = `false`
| ) |  |

protected

Spawn an altimeter sensor on a link.

Parameters

  [in] | _name | Model name
  [in] | _sensorName | Sensor name
  [in] | _collisionType | Type of collision, box or cylinder
  [in] | _topic | Topic to publish altimeter data to
  [in] | _pos | World position
  [in] | _rpy | World rotation in Euler angles
  [in] | _static | True to make the model static

## SpawnUnitContactSensor()

void SpawnUnitContactSensor | ( | const std::string & | _name,
|  | const std::string & | _sensorName,
|  | const std::string & | _collisionType,
|  | const ignition::math::Vector3d & | _pos = `ignition::math::Vector3d::Zero`,
|  | const ignition::math::Vector3d & | _rpy = `ignition::math::Vector3d::Zero`,
|  | bool | _static = `false`
| ) |  |

protected

Spawn a contact sensor with the specified collision geometry.

Parameters

  [in] | _name | Model name
  [in] | _sensorName | Sensor name
  [in] | _collisionType | Type of collision, box or cylinder
  [in] | _pos | World position
  [in] | _rpy | World rotation in Euler angles
  [in] | _static | True to make the model static

## SpawnUnitImuSensor()

void SpawnUnitImuSensor | ( | const std::string & | _name,
|  | const std::string & | _sensorName,
|  | const std::string & | _collisionType,
|  | const std::string & | _topic,
|  | const ignition::math::Vector3d & | _pos = `ignition::math::Vector3d::Zero`,
|  | const ignition::math::Vector3d & | _rpy = `ignition::math::Vector3d::Zero`,
|  | bool | _static = `false`
| ) |  |

protected

Spawn an IMU sensor on a link.

Parameters

  [in] | _name | Model name
  [in] | _sensorName | Sensor name
  [in] | _collisionType | Type of collision, box or cylinder
  [in] | _topic | Topic to publish IMU data to
  [in] | _pos | World position
  [in] | _rpy | World rotation in Euler angles
  [in] | _static | True to make the model static

## SpawnUnitMagnetometerSensor()

void SpawnUnitMagnetometerSensor | ( | const std::string & | _name,
|  | const std::string & | _sensorName,
|  | const std::string & | _collisionType,
|  | const std::string & | _topic,
|  | const ignition::math::Vector3d & | _pos = `ignition::math::Vector3d::Zero`,
|  | const ignition::math::Vector3d & | _rpy = `ignition::math::Vector3d::Zero`,
|  | bool | _static = `false`
| ) |  |

protected

Spawn a magnetometer sensor on a link.

Parameters

  [in] | _name | Model name
  [in] | _sensorName | Sensor name
  [in] | _collisionType | Type of collision, box or cylinder
  [in] | _topic | Topic to publish magnetometer data to
  [in] | _pos | World position
  [in] | _rpy | World rotation in Euler angles
  [in] | _static | True to make the model static

## SpawnWideAngleCamera()

void SpawnWideAngleCamera | ( | const std::string & | _modelName,
|  | const std::string & | _cameraName,
|  | const ignition::math::Vector3d & | _pos = `ignition::math::Vector3d::Zero`,
|  | const ignition::math::Vector3d & | _rpy = `ignition::math::Vector3d::Zero`,
|  | unsigned int | _width = `320`,
|  | unsigned int | _height = `240`,
|  | double | _rate = `25`,
|  | const double | _hfov = `60`,
|  | const std::string & | _lensType = `"stereographic"`,
|  | const bool | _scaleToHfov = `true`,
|  | const double | _cutoffAngle = `3.1415`,
|  | const double | _envTextureSize = `512`,
|  | const double | _c1 = `1.05`,
|  | const double | _c2 = `4`,
|  | const double | _f = `1.0`,
|  | const std::string & | _fun = `"tan"`
| ) |  |

protected

Spawn a wide angle camera.

Parameters

  [in] | _modelName | Name of the model.
  [in] | _cameraName | Name of the camera.
  [in] | _pos | Camera position.
  [in] | _rpy | Camera roll, pitch, yaw.
  [in] | _width | Output image width.
  [in] | _height | Output image height.
  [in] | _rate | Output Hz.
  [in] | _hfov | Horizontal field of view.
  [in] | _lensType | Type of lens: gnomonical, stereographic, equidistant, equisolid_angle, or orthographic.
  [in] | _scaleToHfov | True to use horizontal field of view as defined, otherwise it depends on lens type and custom function.
  [in] | _cutoffAngle | Clip everything outside this angle
  [in] | _envTextureSize | Cubemap environment texture size.
  [in] | _c1 | For "custom" lens type, the c1 coefficient used in the mapping function
  [in] | _c2 | For "custom" lens type, the c2 coefficient used in the mapping function
  [in] | _f | For "custom" lens type, the focal length used in the mapping function
  [in] | _fun | For "custom" lens type, the trigonometirc function used in the mapping function

## SpawnWirelessReceiverSensor()

void SpawnWirelessReceiverSensor | ( | const std::string & | _name,
|  | const std::string & | _sensorName,
|  | const ignition::math::Vector3d & | _pos,
|  | const ignition::math::Vector3d & | _rpy,
|  | double | _minFreq,
|  | double | _maxFreq,
|  | double | _power,
|  | double | _gain,
|  | double | _sensitivity,
|  | bool | _visualize = `true`
| ) |  |

protected

Spawn an Wireless receiver sensor on a link.

Parameters

  [in] | _name | Model name
  [in] | _sensorName | Sensor name
  [in] | _pos | World position
  [in] | _rpy | World rotation in Euler angles
  [in] | _minFreq | Minimum frequency to be filtered (MHz)
  [in] | _maxFreq | Maximum frequency to be filtered (MHz)
  [in] | _power | Transmission power (dBm)
  [in] | _gain | Antenna gain (dBi)
  [in] | _sensitivity | Receiver sensitibity (dBm)
  [in] | _visualize | Enable sensor visualization

## SpawnWirelessTransmitterSensor()

void SpawnWirelessTransmitterSensor | ( | const std::string & | _name,
|  | const std::string & | _sensorName,
|  | const ignition::math::Vector3d & | _pos,
|  | const ignition::math::Vector3d & | _rpy,
|  | const std::string & | _essid,
|  | double | _freq,
|  | double | _power,
|  | double | _gain,
|  | bool | _visualize = `true`
| ) |  |

protected

Spawn an Wireless transmitter sensor on a link.

Parameters

  [in] | _name | Model name
  [in] | _sensorName | Sensor name
  [in] | _pos | World position
  [in] | _rpy | World rotation in Euler angles
  [in] | _essid | Service set identifier (network name)
  [in] | _freq | Frequency of transmission (MHz)
  [in] | _power | Transmission power (dBm)
  [in] | _gain | Antenna gain (dBi)
  [in] | _visualize | Enable sensor visualization

## TearDown()

virtual void TearDown | ( |  | ) |

protected virtual

Tear down the test fixture. This gets called by gtest.

## Unload()

virtual void Unload | ( |  | ) |

protected virtual

Unload the test fixture.

Reimplemented in RenderingFixture.

## WaitUntilEntitySpawn()

void WaitUntilEntitySpawn | ( | const std::string & | _name,
|  | unsigned int | _sleepEach,
|  | int | _retries
| ) |  |

protected

Wait for a number of ms.

and attempts until the entity is spawned

Parameters

  [in] | _name | Model name
  [in] | _sleepEach | Number of milliseconds to sleep in each iteration
  [in] | _retries | Number of iterations until give up

## WaitUntilIteration()

void WaitUntilIteration | ( | const uint32_t | _goalIteration,
|  | const int | _sleepEach,
|  | const int | _retries
| ) |  | const

protected

Wait for a number of ms.

and attempts until the world reaches a target "iterations" value

Parameters

  _goalIteration | Target iterations value
  _sleepEach | Number of milliseconds to sleep in each iteration
  _retries | Number of iterations until give up

## WaitUntilSensorSpawn()

void WaitUntilSensorSpawn | ( | const std::string & | _name,
|  | unsigned int | _sleepEach,
|  | int | _retries
| ) |  |

protected

Wait for a number of ms.

and attempts until the sensor is spawned

Parameters

  [in] | _name | Sensor name
  [in] | _sleepEach | Number of milliseconds to sleep in each iteration
  [in] | _retries | Number of iterations until give up

## WaitUntilSimTime()

void WaitUntilSimTime | ( | const common::Time & | _goalTime,
|  | const int | _ms,
|  | const int | _maxRetries
| ) |  | const

protected

Wait for a number of ms.

and attempts until the world reaches a target simulation time

Parameters

  _goalTime | Target simulation time.
  _sleepEach | Number of milliseconds to sleep in each iteration
  _retries | Number of iterations until give up

## Member Data Documentation

## factoryPub

transport::PublisherPtr factoryPub

protected

Factory publisher.

## node

transport::NodePtr node

protected

Pointer to a node for communication.

## pauseTime

common::Time pauseTime

protected

## poses

std::map<std::string, ignition::math::Pose3d> poses

protected

Map of received poses.

## poseSub

transport::SubscriberPtr poseSub

protected

Pose subscription.

## realTime

common::Time realTime

protected

## receiveMutex

std::mutex receiveMutex

protected

Mutex to protect data structures that store messages.

## requestPub

transport::PublisherPtr requestPub

protected

Request publisher.

## server

Server* server

protected

Pointer the Gazebo server.

## serverThread

boost::thread* serverThread

protected

Pointer the thread the runs the server.

## simTime

common::Time simTime

protected

Current simulation time, real time, and pause time.

## statsSub

transport::SubscriberPtr statsSub

protected

World statistics subscription.

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

- ServerFixture.hh