##

Actor Class Reference
Physics

Actor class enables GPU based mesh model / skeleton scriptable animation. More...

`#include <physics/physics.hh>`

Inherits Model.

## 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...
typedef std::map< std::string, common::SkeletonAnimation * > | SkeletonAnimation_M
| Typedef the skeleton animation map, indexed by their names. More...

## Public Member Functions

| Actor (BasePtr _parent)
| Constructor. More...
virtual | ~Actor ()
| Destructor. More...
void | AddChild (BasePtr _child)
| Add a child to this entity. More...
void | AddType (EntityType _type)
| Add a type specifier. More...
void | AttachStaticModel (ModelPtr &_model, ignition::math::Pose3d _offset)
| Attach a static model to this model. More...
virtual ignition::math::Box | BoundingBox () const
| Get the size of the bounding box. More...
ignition::math::Box | CollisionBoundingBox () const
| Returns collision bounding box. More...
gazebo::physics::JointPtr | CreateJoint (const std::string &_name, const std::string &_type, physics::LinkPtr _parent, physics::LinkPtr _child)
| Create a joint for this model. More...
gazebo::physics::JointPtr | CreateJoint (sdf::ElementPtr _sdf)
| Create a joint for this model. More...
LinkPtr | CreateLink (const std::string &_name)
| Create a new link for this model. More...
TrajectoryInfoPtr | CustomTrajectory () const
| Get the custom trajectory. More...
void | DetachStaticModel (const std::string &_model)
| Detach a static model from this model. More...
const ignition::math::Pose3d & | DirtyPose () const
| Returns Entity::dirtyPose. More...
virtual void | FillMsg (msgs::Model &_msg)
| Fill a model message. More...
virtual void | Fini ()
| Finalize the actor. More...
bool | GetAutoDisable () const
| Return the value of the SDF <allow_auto_disable> element. 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...
GripperPtr | GetGripper (size_t _index) const
| Get a gripper based on an index. More...
size_t | GetGripperCount () const
| Get the number of grippers in this model. More...
uint32_t | GetId () const
| Return the ID of this entity. More...
JointPtr | GetJoint (const std::string &name)
| Get a joint. More...
JointControllerPtr | GetJointController ()
| Get a handle to the Controller for the joints in this model. More...
unsigned int | GetJointCount () const
| Get the number of joints. More...
const Joint_V & | GetJoints () const
| Get the joints. More...
LinkPtr | GetLink (const std::string &_name="canonical") const
| Get a link by name. More...
const Link_V & | GetLinks () const
| Construct and return a vector of Link's in this model Note this constructs the vector of Link's on the fly, could be costly. 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...
unsigned int | GetPluginCount () const
| Get the number of plugins this model has. 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 actor. More...
virtual bool | GetSelfCollide () const
| Get whether the links in the actor can collide with each other. More...
unsigned int | GetSensorCount () const
| Get the number of sensors attached to this model. More...
unsigned int | GetType () const
| Get the full type definition. More...
const WorldPtr & | GetWorld () const
| Get the World this object is in. More...
double | GetWorldEnergy () const
| Returns this model's total energy, or sum of Model::GetWorldEnergyPotential() and Model::GetWorldEnergyKinetic(). More...
double | GetWorldEnergyKinetic () const
| Returns sum of the kinetic energies of all links in this model. More...
double | GetWorldEnergyPotential () const
| Returns the potential energy of all links and joint springs in the model. 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 actor. More...
ignition::math::Pose3d | InitialRelativePose () const
| Get the initial relative pose. More...
virtual bool | IsActive () const
| Returns true when actor is playing animation. More...
bool | IsCanonicalLink () const
| A helper function that checks if this is a canonical body. More...
bool | IsSelected () const
| True if the entity is selected by the user. More...
bool | IsStatic () const
| Return whether this entity is static. More...
void | Load (sdf::ElementPtr _sdf)
| Load the actor. More...
void | LoadJoints ()
| Load all the joints. More...
void | LoadPlugins ()
| Load all plugins. More...
const common::Mesh * | Mesh () const
| Returns the actor's mesh. More...
ModelPtr | NestedModel (const std::string &_name) const
| Get a nested model that is a direct child of this model. More...
const Model_V & | NestedModels () const
| Get all the nested models. 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...
virtual void | Play ()
| Start playing the script. More...
void | PluginInfo (const common::URI &_pluginUri, ignition::msgs::Plugin_V &_plugins, bool &_success)
| Get information about plugins in this model or one of its children, according to the given _pluginUri. More...
void | Print (const std::string &_prefix)
| Print this object to screen via gzmsg. More...
void | ProcessMsg (const msgs::Model &_msg)
| Update parameters from a model message. More...
virtual ignition::math::Vector3d | RelativeAngularAccel () const
| Get the angular acceleration of the entity. More...
virtual ignition::math::Vector3d | RelativeAngularVel () const
| Get the angular velocity of the entity. More...
virtual ignition::math::Vector3d | RelativeLinearAccel () const
| Get the linear acceleration of the entity. More...
virtual ignition::math::Vector3d | RelativeLinearVel () const
| Get the linear velocity of the entity. 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 (const std::string &_name)
| Remove a child by name. More...
virtual void | RemoveChild (EntityPtr _child)
| Remove a child. More...
void | RemoveChild (physics::BasePtr _child)
| Remove a child by pointer. 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...
virtual void | RemoveChild (unsigned int _id)
| Remove a child from this entity. More...
void | RemoveChildren ()
| Remove all children. More...
bool | RemoveJoint (const std::string &_name)
| Remove a joint for this model. More...
void | Reset ()
| Reset the actor. More...
void | Reset ()
| Reset the model. More...
virtual void | Reset (Base::EntityType _resetType)
| Calls recursive Reset on one of the Base::EntityType's. More...
void | ResetCustomTrajectory ()
| Reset custom trajectory of the actor. More...
void | ResetPhysicsStates ()
| Reset the velocity, acceleration, force and torque of all child links. More...
ignition::math::Vector3d | Scale () const
| Get the scale of model. More...
double | ScriptTime () const
| Get the current script time. More...
std::vector< std::string > | SensorScopedName (const std::string &_name) const
| Get scoped sensor name(s) in the model that matches sensor name. More...
void | SetAngularAccel (const ignition::math::Vector3d &_vel) GAZEBO_DEPRECATED(9.0)
| Set the angular acceleration of the model, and all its links. More...
void | SetAngularVel (const ignition::math::Vector3d &_vel)
| Set the angular velocity of the model, and all its links. 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 | SetAutoDisable (bool _disable)
| Allow the model the auto disable. More...
void | SetCanonicalLink (bool _value)
| Set to true if this entity is a canonical link for a model. More...
void | SetCollideMode (const std::string &_mode)
| \TODO This is not implemented in Link, which means this function doesn't do anything. More...
void | SetCustomTrajectory (TrajectoryInfoPtr &_trajInfo)
| Set a custom trajectory for the actor, using one of the existing animations. More...
void | SetEnabled (bool _enabled)
| Enable all the links in all the models. More...
void | SetGravityMode (const bool &_value)
| Set the gravity mode of the model. More...
void | SetInitialRelativePose (const ignition::math::Pose3d &_pose)
| Set the initial pose. More...
void | SetJointAnimation (const std::map< std::string, common::NumericAnimationPtr > &_anims, boost::function< void()> _onComplete=NULL)
| Joint Animation. More...
void | SetJointPosition (const std::string &_jointName, double _position, int _index=0)
| Set the positions of a Joint by name. More...
void | SetJointPositions (const std::map< std::string, double > &_jointPositions)
| Set the positions of a set of joints. More...
void | SetLaserRetro (const float _retro)
| Set the laser retro reflectiveness of the model. More...
void | SetLinearAccel (const ignition::math::Vector3d &_vel) GAZEBO_DEPRECATED(9.0)
| Set the linear acceleration of the model, and all its links. More...
void | SetLinearVel (const ignition::math::Vector3d &_vel)
| Set the linear velocity of the model, and all its links. More...
void | SetLinkWorldPose (const ignition::math::Pose3d &_pose, const LinkPtr &_link)
| Set the Pose of the entire Model by specifying desired Pose of a Link within the Model. More...
void | SetLinkWorldPose (const ignition::math::Pose3d &_pose, std::string _linkName)
| Set the Pose of the entire Model by specifying desired Pose of a Link within the Model. More...
virtual void | SetName (const std::string &_name)
| Set the name of the entity. More...
void | SetParent (BasePtr _parent)
| Set the parent. 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, const bool _publish=false)
| Set the scale of model. More...
void | SetScriptTime (const double _time)
| Set the current script time. More...
virtual bool | SetSelected (bool _show)
| Set whether this entity has been selected by the user through the gui. More...
virtual void | SetSelfCollide (bool _selfCollide)
| Override set self collide method to make it impossible to set it to true for actors. More...
void | SetState (const ModelState &_state)
| Set the current model state. More...
void | SetStatic (const bool &_static)
| Set whether this entity is static: immovable. More...
virtual void | SetWindMode (const bool _enabled)
| Override set wind mode method to make it impossible to set it to true for actors. 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 | 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...
boost::shared_ptr< Model > | shared_from_this ()
| Allow Model class to share itself as a boost shared_ptr. More...
const SkeletonAnimation_M & | SkeletonAnimations () const
| Returns a dictionary of all the skeleton animations associated with the actor. More...
virtual void | Stop ()
| Stop playing the script. More...
virtual void | StopAnimation ()
| Stop the current animations. More...
std::string | TypeStr () const
| Get the string name for the entity type. More...
virtual const sdf::ElementPtr | UnscaledSDF ()
void | Update ()
| Update the actor. 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 bool | WindMode () const
| Get whether the links in the actor are affected by wind. More...
virtual ignition::math::Vector3d | WorldAngularAccel () const
| Get the angular acceleration of the entity in the world frame. More...
virtual ignition::math::Vector3d | WorldAngularVel () const
| Get the angular velocity of the entity in the world frame. More...
virtual ignition::math::Vector3d | WorldLinearAccel () const
| Get the linear acceleration of the entity in the world frame. More...
virtual ignition::math::Vector3d | WorldLinearVel () const
| Get the linear velocity of the entity 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 ()
| Callback when the pose of the model has been changed. More...
virtual void | RegisterIntrospectionItems ()
| Register items in the introspection service. More...
virtual void | UnregisterIntrospectionItems ()
| Unregister items in the introspection service. More...

## Protected Attributes

bool | active
| True if the actor is being updated. More...
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...
std::vector< ModelPtr > | attachedModels
| used by Model::AttachStaticModel More...
std::vector< ignition::math::Pose3d > | attachedModelsOffset
| used by Model::AttachStaticModel More...
bool | autoStart
| True if the actor should start running automatically, otherwise it will only start once Play is called. More...
transport::PublisherPtr | bonePosePub
| Publisher to send bone info. 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::map< std::string, bool > | interpolateX
| Map of animation types (the same name as in `skelAnimation` and `skelNodesMap`) and whether they should be interpolated along X. More...
std::vector< common::URI > | introspectionItems
| All the introspection items regsitered for this. More...
transport::PublisherPtr | jointPub
| Publisher for joint info. More...
ignition::math::Vector3d | lastPos
| Last position of the actor. More...
unsigned int | lastTraj
| Id of the last trajectory. More...
bool | loop
| True if the animation should loop. More...
LinkPtr | mainLink
| Pointer to the actor's canonical link. More...
const common::Mesh * | mesh = nullptr
| Pointer to the actor's mesh. 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...
double | pathLength
| Length of the actor's path. More...
common::Time | playStartTime
| Time when the animation was started. More...
common::Time | prevAnimationTime
| Previous time an animation was updated. More...
common::Time | prevFrameTime
| Time of the previous frame. More...
transport::PublisherPtr | requestPub
| Request publisher. More...
ignition::transport::Node::Publisher | requestPubIgn
| Request publisher. More...
ignition::math::Vector3d | scale
| Scale of the entity. More...
double | scriptLength
| Total time length of the script, in seconds. More...
sdf::ElementPtr | sdf
| The SDF values for this object. More...
SkeletonAnimation_M | skelAnimation
| Map of skeleton animations, indexed by their names. More...
common::Skeleton * | skeleton = nullptr
| The actor's skeleton. More...
std::map< std::string, std::map< std::string, std::string > > | skelNodesMap
| Skeleton to node map: More...
std::string | skinFile
| Filename for the skin. More...
double | skinScale
| Scaling factor to apply to the skin. More...
double | startDelay
| Time to wait before starting the script. More...
std::map< unsigned int, common::PoseAnimation * > | trajectories
| Map of all the trajectories (pose animations) and their indices. More...
std::vector< TrajectoryInfo > | trajInfo
| A vector of trajectory information, which contains information such as their durations, uniquely identifiable by their IDs. More...
transport::PublisherPtr | visPub
| Visual publisher. More...
ignition::transport::Node::Publisher | visPubIgn
| Visual publisher. More...
uint32_t | visualId
| ID for the visual representing the skin. More...
msgs::Visual * | visualMsg
| Visual message container. More...
std::string | visualName
| Name of the visual representing the skin. More...
WorldPtr | world
| Pointer to the world. More...
ignition::math::Pose3d | worldPose
| World pose of the entity. More...

## Detailed Description

Actor class enables GPU based mesh model / skeleton scriptable animation.

## Member Typedef Documentation

## SkeletonAnimation_M

typedef std::map<std::string, common::SkeletonAnimation *> SkeletonAnimation_M

Typedef the skeleton animation map, indexed by their names.

## 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

## Actor()

Actor | ( | BasePtr | _parent | ) |

explicit

Constructor.

Parameters

  [in] | _parent | Parent object

## ~Actor()

virtual ~Actor | ( |  | ) |

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.

## AttachStaticModel()

void AttachStaticModel | ( | ModelPtr & | _model,
|  | ignition::math::Pose3d | _offset
| ) |  |

inherited

Attach a static model to this model.

This function takes as input a static Model, which is a Model that has been marked as static (no physics simulation), and attaches it to this Model with a given offset.

This function is useful when you want to simulate a grasp of a static object, or move a static object around using a dynamic model.

If you are in doubt, do not use this function.

Parameters

  [in] | _model | Pointer to the static model.
  [in] | _offset | Offset, relative to this Model, to place _model.

## BoundingBox()

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

virtual inherited

Get the size of the bounding box.

Returns
  The bounding box.

Reimplemented from Entity.

## 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

## CreateJoint() [1/2]

gazebo::physics::JointPtr CreateJoint | ( | const std::string & | _name,
|  | const std::string & | _type,
|  | physics::LinkPtr | _parent,
|  | physics::LinkPtr | _child
| ) |  |

inherited

Create a joint for this model.

Parameters

  [in] | _name | name of joint
  [in] | _type | type of joint
  [in] | _parent | parent link of joint
  [in] | _child | child link of joint

Remarks
  This loads the joint, but does not initialize it. Joint::Init() must be called on the returned joint to make it affect the simulation.

Returns
  a JointPtr to the new joint created, returns NULL JointPtr() if joint by name _name already exists.

Exceptions

  common::Exception | When _type is not recognized

## CreateJoint() [2/2]

gazebo::physics::JointPtr CreateJoint | ( | sdf::ElementPtr | _sdf | ) |

inherited

Create a joint for this model.

Parameters

  [in] | _sdf | SDF parameters for <joint>

Remarks
  This loads the joint, but does not initialize it. Joint::Init() must be called on the returned joint to make it affect the simulation.

Returns
  a JointPtr to the new joint created, returns NULL JointPtr() if joint by name _name already exists.

Exceptions

  common::Exception | When _type is not recognized

## CreateLink()

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

inherited

Create a new link for this model.

Parameters

  [in] | _name | name of the new link

Returns
  a LinkPtr to the new link created, returns NULL if link _name already exists.

## CustomTrajectory()

TrajectoryInfoPtr CustomTrajectory | ( |  | ) | const

Get the custom trajectory.

Returns
  The custom trajectory or Null if SetCustomTrajectory has never been called.

See also
  ResetCustomTrajectory, SetCustomTrajectory

## DetachStaticModel()

void DetachStaticModel | ( | const std::string & | _model | ) |

inherited

Detach a static model from this model.

Parameters

  [in] | _model | Name of an attached static model to remove.

See also
  Model::AttachStaticModel.

## 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()

virtual void FillMsg | ( | msgs::Model & | _msg | ) |

virtual inherited

Fill a model message.

Parameters

  [in] | _msg | Message to fill using this model's data.

## Fini()

virtual void Fini | ( |  | ) |

virtual

Finalize the actor.

Reimplemented from Model.

## GetAutoDisable()

bool GetAutoDisable | ( |  | ) | const

inherited

Return the value of the SDF <allow_auto_disable> element.

Returns
  True if auto disable is allowed for this model.

## 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.

## GetGripper()

GripperPtr GetGripper | ( | size_t | _index | ) | const

inherited

Get a gripper based on an index.

Returns
  A pointer to a Gripper. Null if the _index is invalid.

## GetGripperCount()

size_t GetGripperCount | ( |  | ) | const

inherited

Get the number of grippers in this model.

Returns
  Size of this->grippers array.

See also
  Model::GetGripper()

## GetId()

uint32_t GetId | ( |  | ) | const

inherited

Return the ID of this entity.

This id is unique.

Returns
  Integer ID.

## GetJoint()

JointPtr GetJoint | ( | const std::string & | name | ) |

inherited

Get a joint.

Parameters

  name | The name of the joint, specified in the world file

Returns
  Pointer to the joint

## GetJointController()

JointControllerPtr GetJointController | ( |  | ) |

inherited

Get a handle to the Controller for the joints in this model.

Returns
  A handle to the Controller for the joints in this model.

## GetJointCount()

unsigned int GetJointCount | ( |  | ) | const

inherited

Get the number of joints.

Returns
  Get the number of joints.

## GetJoints()

const Joint_V& GetJoints | ( |  | ) | const

inherited

Get the joints.

Returns
  Vector of joints.

## GetLink()

LinkPtr GetLink | ( | const std::string & | _name = `"canonical"` | ) | const

inherited

Get a link by name.

Parameters

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

Returns
  Pointer to the link, NULL if the name is invalid.

## GetLinks()

const Link_V& GetLinks | ( |  | ) | const

inherited

Construct and return a vector of Link's in this model Note this constructs the vector of Link's on the fly, could be costly.

Returns
  a vector of Link's in this 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.

## GetPluginCount()

unsigned int GetPluginCount | ( |  | ) | const

inherited

Get the number of plugins this model has.

Returns
  Number of plugins associated with this model.

## 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

Get the SDF values for the actor.

Returns
  Pointer to the SDF values.

Reimplemented from Model.

## GetSelfCollide()

virtual bool GetSelfCollide | ( |  | ) | const

virtual

Get whether the links in the actor can collide with each other.

This is always false for actors.

Returns
  False, because actors can't self-collide.

See also
  SetSelfCollide()

Reimplemented from Model.

## GetSensorCount()

unsigned int GetSensorCount | ( |  | ) | const

inherited

Get the number of sensors attached to this model.

This will count all the sensors attached to all the links.

Returns
  Number of sensors.

## 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.

## GetWorldEnergy()

double GetWorldEnergy | ( |  | ) | const

inherited

Returns this model's total energy, or sum of Model::GetWorldEnergyPotential() and Model::GetWorldEnergyKinetic().

Returns
  this link's total energy

## GetWorldEnergyKinetic()

double GetWorldEnergyKinetic | ( |  | ) | const

inherited

Returns sum of the kinetic energies of all links in this model.

Computed using link's CoG velocity in the inertial (world) frame.

Returns
  this link's kinetic energy

## GetWorldEnergyPotential()

double GetWorldEnergyPotential | ( |  | ) | const

inherited

Returns the potential energy of all links and joint springs in the model.

Returns
  this link's potential energy,

## 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 actor.

Reimplemented from Model.

## InitialRelativePose()

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

inherited

Get the initial relative pose.

Returns
  The initial relative pose.

## IsActive()

virtual bool IsActive | ( |  | ) | const

virtual

Returns true when actor is playing animation.

Returns
  True if animation is being played.

## IsCanonicalLink()

bool IsCanonicalLink | ( |  | ) | const

inline inherited

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

Returns
  True if the link is canonical.

## 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()

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

virtual

Load the actor.

Parameters

  [in] | _sdf | SDF parameters

Reimplemented from Entity.

## LoadJoints()

void LoadJoints | ( |  | ) |

inherited

Load all the joints.

## LoadPlugins()

void LoadPlugins | ( |  | ) |

inherited

Load all plugins.

Load all plugins specified in the SDF for the model.

## Mesh()

const common::Mesh* Mesh | ( |  | ) | const

Returns the actor's mesh.

Returns
  The actor's mesh.

## NestedModel()

ModelPtr NestedModel | ( | const std::string & | _name | ) | const

inherited

Get a nested model that is a direct child of this model.

Parameters

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

Returns
  Pointer to the model, NULL if the name is invalid.

## NestedModels()

const Model_V& NestedModels | ( |  | ) | const

inherited

Get all the nested models.

Returns
  a vector of Model's in this model

## OnPoseChange()

virtual void OnPoseChange | ( |  | ) |

protected virtual inherited

Callback when the pose of the model has been changed.

Implements Entity.

## 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.

## Play()

virtual void Play | ( |  | ) |

virtual

Start playing the script.

## PluginInfo()

void PluginInfo | ( | const common::URI & | _pluginUri,
|  | ignition::msgs::Plugin_V & | _plugins,
|  | bool & | _success
| ) |  |

inherited

Get information about plugins in this model or one of its children, according to the given _pluginUri.

Some accepted URI patterns:

- Info about a specific model plugin in this model: data://world/<world_name>/model/<this_name>/plugin/<plugin_name>
- Info about all model plugins in this model (empty plugin name): data://world/<world_name>/model/<this_name>/plugin
- Info about a model plugin in a nested model: data://world/<world_name>/model/<this_name>/model/ <nested_model_name>/plugin/<plugin_name>

Parameters

  [in] | _pluginUri | URI for the desired plugin(s).
  [out] | _plugins | Message containing vector of plugins.
  [out] | _success | True if the info was successfully obtained.

## 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::Model & | _msg | ) |

inherited

Update parameters from a model message.

Parameters

  [in] | _msg | Message to process.

## RegisterIntrospectionItems()

virtual void RegisterIntrospectionItems | ( |  | ) |

protected virtual inherited

Register items in the introspection service.

Reimplemented from Base.

## RelativeAngularAccel()

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

virtual inherited

Get the angular acceleration of the entity.

Returns
  ignition::math::Vector3d, set to 0, 0, 0 if the model has no body.

Reimplemented from Entity.

## RelativeAngularVel()

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

virtual inherited

Get the angular velocity of the entity.

Returns
  ignition::math::Vector3d, set to 0, 0, 0 if the model has no body.

Reimplemented from Entity.

## RelativeLinearAccel()

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

virtual inherited

Get the linear acceleration of the entity.

Returns
  ignition::math::Vector3d, set to 0, 0, 0 if the model has no body.

Reimplemented from Entity.

## RelativeLinearVel()

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

virtual inherited

Get the linear velocity of the entity.

Returns
  ignition::math::Vector3d, set to 0, 0, 0 if the model has no body.

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() [1/7]

void RemoveChild

inherited

Remove a child by name.

Parameters

  [in] | _name | Name of the child.

## RemoveChild() [2/7]

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

inherited

Remove a child by name.

Parameters

  [in] | _name | Name of the child.

## RemoveChild() [3/7]

virtual void RemoveChild | ( | EntityPtr | _child | ) |

virtual inherited

Remove a child.

Parameters

  [in] | _child | Remove a child entity.

## RemoveChild() [4/7]

void RemoveChild

inherited

Remove a child by pointer.

Parameters

  [in] | _child | Pointer to the child.

## RemoveChild() [5/7]

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

inherited

Remove a child by pointer.

Parameters

  [in] | _child | Pointer to the child.

## RemoveChild() [6/7]

virtual void RemoveChild

inherited

Remove a child from this entity.

Parameters

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

## RemoveChild() [7/7]

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.

## RemoveJoint()

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

inherited

Remove a joint for this model.

Parameters

  [in] | _name | name of joint

Returns
  true if successful, false if not.

## Reset() [1/3]

void Reset | ( |  | ) |

virtual

Reset the actor.

Reimplemented from Entity.

## Reset() [2/3]

void Reset

Reset the model.

## Reset() [3/3]

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

## ResetCustomTrajectory()

void ResetCustomTrajectory | ( |  | ) |

Reset custom trajectory of the actor.

See also
  SetCustomTrajectory

## ResetPhysicsStates()

void ResetPhysicsStates | ( |  | ) |

inherited

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

## Scale()

ignition::math::Vector3d Scale | ( |  | ) | const

inherited

Get the scale of model.

Returns
  Scale of the model.

See also
  void SetScale(const ignition::math::Vector3d &_scale, const bool _publish = false)

## ScriptTime()

double ScriptTime | ( |  | ) | const

Get the current script time.

Returns
  _time Time in seconds from the beginning of the current script loop.

See also
  SetScriptTime

## SensorScopedName()

std::vector<std::string> SensorScopedName | ( | const std::string & | _name | ) | const

inherited

Get scoped sensor name(s) in the model that matches sensor name.

Get the names of sensors in the model where sensor name matches the user provided argument.

Note
  A Model does not manage or maintain a pointer to a sensors::Sensor. Access to a Sensor object is accomplished through the sensors::SensorManager. This was done to separate the physics engine from the sensor engine.

Parameters

  [in] | _name | Unscoped sensor name.

Returns
  The scoped name of the sensor(s), or empty list if not found.

## SetAngularAccel()

void SetAngularAccel | ( | const ignition::math::Vector3d & | _vel | ) |

inherited

Set the angular acceleration of the model, and all its links.

Parameters

  [in] | _vel | The new angular acceleration

Deprecated:
  acceleration should be achieved by applying a force.

## SetAngularVel()

void SetAngularVel | ( | const ignition::math::Vector3d & | _vel | ) |

inherited

Set the angular velocity of the model, and all its links.

Parameters

  [in] | _vel | The new angular velocity.

## 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.

## SetAutoDisable()

void SetAutoDisable | ( | bool | _disable | ) |

inherited

Allow the model the auto disable.

This is ignored if the model has joints.

Parameters

  [in] | _disable | If true, the model is allowed to auto disable.

## 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.

## SetCollideMode()

void SetCollideMode | ( | const std::string & | _mode | ) |

inherited

\TODO This is not implemented in Link, which means this function doesn't do anything.

Set the collide mode of the model.

Parameters

  [in] | _mode | The collision mode

## SetCustomTrajectory()

void SetCustomTrajectory | ( | TrajectoryInfoPtr & | _trajInfo | ) |

Set a custom trajectory for the actor, using one of the existing animations.

This will override any trajectories previously defined. When a custom trajectory is defined, the script time must be set with `SetScriptTime` in order to play the animation.

Parameters

  [in] | _trajInfo | Information about custom trajectory.

See also
  ResetCustomTrajectory, SetScriptTime

## SetEnabled()

void SetEnabled | ( | bool | _enabled | ) |

inherited

Enable all the links in all the models.

Parameters

  [in] | _enabled | True to enable all the links.

## SetGravityMode()

void SetGravityMode | ( | const bool & | _value | ) |

inherited

Set the gravity mode of the model.

Parameters

  [in] | _value | True to enable gravity.

## SetInitialRelativePose()

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

inherited

Set the initial pose.

Parameters

  [in] | _pose | The initial pose.

## SetJointAnimation()

void SetJointAnimation | ( | const std::map< std::string, common::NumericAnimationPtr > & | _anims,
|  | boost::function< void()> | _onComplete = `NULL`
| ) |  |

inherited

Joint Animation.

Parameters

  [in] | _anim | Map of joint names to their position animation.
  [in] | _onComplete | Callback function for when the animation completes.

## SetJointPosition()

void SetJointPosition | ( | const std::string & | _jointName,
|  | double | _position,
|  | int | _index = `0`
| ) |  |

inherited

Set the positions of a Joint by name.

See also
  JointController::SetJointPosition

Parameters

  [in] | _jointName | Name of the joint to set.
  [in] | _position | Position to set the joint to.

## SetJointPositions()

void SetJointPositions | ( | const std::map< std::string, double > & | _jointPositions | ) |

inherited

Set the positions of a set of joints.

See also
  JointController::SetJointPositions.

Parameters

  [in] | _jointPositions | Map of joint names to their positions.

## SetLaserRetro()

void SetLaserRetro | ( | const float | _retro | ) |

inherited

Set the laser retro reflectiveness of the model.

Parameters

  [in] | _retro | Retro reflectance value.

## SetLinearAccel()

void SetLinearAccel | ( | const ignition::math::Vector3d & | _vel | ) |

inherited

Set the linear acceleration of the model, and all its links.

Parameters

  [in] | _vel | The new linear acceleration.

Deprecated:
  acceleration should be achieved by applying a force.

## SetLinearVel()

void SetLinearVel | ( | const ignition::math::Vector3d & | _vel | ) |

inherited

Set the linear velocity of the model, and all its links.

Parameters

  [in] | _vel | The new linear velocity.

## SetLinkWorldPose() [1/2]

void SetLinkWorldPose | ( | const ignition::math::Pose3d & | _pose,
|  | const LinkPtr & | _link
| ) |  |

inherited

Set the Pose of the entire Model by specifying desired Pose of a Link within the Model.

Doing so, keeps the configuration of the Model unchanged, i.e. all Joint angles are unchanged.

Parameters

  [in] | _pose | Pose to set the link to.
  [in] | _link | Pointer to the link to set.

## SetLinkWorldPose() [2/2]

void SetLinkWorldPose | ( | const ignition::math::Pose3d & | _pose,
|  | std::string | _linkName
| ) |  |

inherited

Set the Pose of the entire Model by specifying desired Pose of a Link within the Model.

Doing so, keeps the configuration of the Model unchanged, i.e. all Joint angles are unchanged.

Parameters

  [in] | _pose | Pose to set the link to.
  [in] | _linkName | Name of the link to set.

## 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.

## 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,
|  | const bool | _publish = `false`
| ) |  |

inherited

Set the scale of model.

Parameters

  [in] | _scale | Scale to set the model to.
  [in] | _publish | True to publish a message for the client with the new scale.

See also
  ignition::math::Vector3d Scale() const

## SetScriptTime()

void SetScriptTime | ( | const double | _time | ) |

Set the current script time.

Parameters

  [in] | _time | Time in seconds from the beginning of the current script loop.

See also
  ScriptTime

## 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.

## SetSelfCollide()

virtual void SetSelfCollide | ( | bool | _selfCollide | ) |

virtual

Override set self collide method to make it impossible to set it to true for actors.

Parameters

  [in] | _selfCollide | Whether this can collide with itself, will be false for actors regardless of the input.

See also
  GetSelfCollide()

Reimplemented from Model.

## SetState()

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

inherited

Set the current model state.

Parameters

  [in] | _state | State to set the model to.

## SetStatic()

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

inherited

Set whether this entity is static: immovable.

Parameters

  [in] | _static | True = static.

## SetWindMode()

virtual void SetWindMode | ( | const bool | _enabled | ) |

virtual

Override set wind mode method to make it impossible to set it to true for actors.

Parameters

  [in] | _enabled | Whether this is affected by wind, will be false for actors regardless of the input.

See also
  GetWindMode()

Reimplemented from Model.

## 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.

## 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.

## shared_from_this()

boost::shared_ptr<Model> shared_from_this | ( |  | ) |

inherited

Allow Model class to share itself as a boost shared_ptr.

Returns
  a shared pointer to itself

## SkeletonAnimations()

const SkeletonAnimation_M& SkeletonAnimations | ( |  | ) | const

Returns a dictionary of all the skeleton animations associated with the actor.

Returns
  A map of SkeletonAnimation, indexed by their name.

## Stop()

virtual void Stop | ( |  | ) |

virtual

Stop playing the script.

## StopAnimation()

virtual void StopAnimation | ( |  | ) |

virtual inherited

Stop the current animations.

Reimplemented from Entity.

## 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.

## UnscaledSDF()

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

virtual inherited

## Update()

void Update | ( |  | ) |

virtual

Update the actor.

Reimplemented from Base.

## 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 Model.

## 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.

## WindMode()

virtual bool WindMode | ( |  | ) | const

virtual

Get whether the links in the actor are affected by wind.

This is always false for actors.

Returns
  False, because forces can't be applied to actors.

See also
  SetWindMode()

Reimplemented from Model.

## WorldAngularAccel()

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

virtual inherited

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

Returns
  ignition::math::Vector3d, set to 0, 0, 0 if the model has no body.

Reimplemented from Entity.

## WorldAngularVel()

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

virtual inherited

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

Returns
  ignition::math::Vector3, set to 0, 0, 0 if the model has no body.

Reimplemented from Entity.

## WorldLinearAccel()

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

virtual inherited

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

Returns
  ignition::math::Vector3d, set to 0, 0, 0 if the model has no body.

Reimplemented from Entity.

## WorldLinearVel()

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

virtual inherited

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

Returns
  ignition::math::Vector3d, set to 0, 0, 0 if the model has no body.

Reimplemented from Entity.

## WorldPose()

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

inline virtual inherited

Get the absolute pose of the entity.

Returns
  The absolute pose of the entity.

Reimplemented in Collision, and Light.

References Entity::worldPose.

## Member Data Documentation

## active

bool active

protected

True if the actor is being updated.

## 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.

## attachedModels

std::vector<ModelPtr> attachedModels

protected inherited

used by Model::AttachStaticModel

## attachedModelsOffset

std::vector<ignition::math::Pose3d> attachedModelsOffset

protected inherited

used by Model::AttachStaticModel

## autoStart

bool autoStart

protected

True if the actor should start running automatically, otherwise it will only start once Play is called.

## bonePosePub

transport::PublisherPtr bonePosePub

protected

Publisher to send bone info.

## 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.

## interpolateX

std::map<std::string, bool> interpolateX

protected

Map of animation types (the same name as in `skelAnimation` and `skelNodesMap`) and whether they should be interpolated along X.

See also
  skelAnimation
  skelNodesMap

## introspectionItems

std::vector<common::URI> introspectionItems

protected inherited

All the introspection items regsitered for this.

## jointPub

transport::PublisherPtr jointPub

protected inherited

Publisher for joint info.

## lastPos

ignition::math::Vector3d lastPos

protected

Last position of the actor.

## lastTraj

unsigned int lastTraj

protected

Id of the last trajectory.

## loop

bool loop

protected

True if the animation should loop.

## mainLink

LinkPtr mainLink

protected

Pointer to the actor's canonical link.

## mesh

const common::Mesh* mesh = nullptr

protected

Pointer to the actor's mesh.

## 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.

## pathLength

double pathLength

protected

Length of the actor's path.

## playStartTime

common::Time playStartTime

protected

Time when the animation was started.

## prevAnimationTime

common::Time prevAnimationTime

protected inherited

Previous time an animation was updated.

## prevFrameTime

common::Time prevFrameTime

protected

Time of the previous frame.

## 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.

## scriptLength

double scriptLength

protected

Total time length of the script, in seconds.

## sdf

sdf::ElementPtr sdf

protected inherited

The SDF values for this object.

## skelAnimation

SkeletonAnimation_M skelAnimation

protected

Map of skeleton animations, indexed by their names.

The names match those in `interpolateX` and `skelNodesMap`.

See also
  interpolateX
  skelNodesMap

## skeleton

common::Skeleton* skeleton = nullptr

protected

The actor's skeleton.

## skelNodesMap

std::map<std::string, std::map<std::string, std::string> > skelNodesMap

protected

Skeleton to node map:

- Skeleton animation name (should match those in `skelAnimation` and `interpolateX`)
- Map holding:
  - Skeleton node names from skin
  - Skeleton node names from animation
    See also
      interpolateX
      skelAnimation

## skinFile

std::string skinFile

protected

Filename for the skin.

## skinScale

double skinScale

protected

Scaling factor to apply to the skin.

## startDelay

double startDelay

protected

Time to wait before starting the script.

If running in a loop, this time will be waited before starting each cycle.

## trajectories

std::map<unsigned int, common::PoseAnimation *> trajectories

protected

Map of all the trajectories (pose animations) and their indices.

The indices here match the order in `trajInfo`.

See also
  trajInfo

## trajInfo

std::vector<TrajectoryInfo> trajInfo

protected

A vector of trajectory information, which contains information such as their durations, uniquely identifiable by their IDs.

The IDs here match those on the `trajectories` vector.

See also
  trajectories

## visPub

transport::PublisherPtr visPub

protected inherited

Visual publisher.

## visPubIgn

ignition::transport::Node::Publisher visPubIgn

protected inherited

Visual publisher.

## visualId

uint32_t visualId

protected

ID for the visual representing the skin.

## visualMsg

msgs::Visual* visualMsg

protected inherited

Visual message container.

## visualName

std::string visualName

protected

Name of the visual representing the skin.

## 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:

- Actor.hh