##

Entity Class Referenceabstract
Physics

Base class for all physics objects in Gazebo. More...

`#include <physics/physics.hh>`

Inherits Base.

Inherited by Collision, Light, Link, and 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...

## Public Member Functions

| Entity (BasePtr _parent)
| Constructor. More...
virtual | ~Entity ()
| Destructor. More...
void | AddChild (BasePtr _child)
| Add a child to this entity. More...
void | AddType (EntityType _type)
| Add a type specifier. More...
virtual ignition::math::Box | BoundingBox () const
| Return the bounding box for the entity. More...
ignition::math::Box | CollisionBoundingBox () const
| Returns collision bounding box. More...
const ignition::math::Pose3d & | DirtyPose () const
| Returns Entity::dirtyPose. More...
virtual void | Fini ()
| Finalize the entity. More...
BasePtr | GetByName (const std::string &_name)
| Get by name. More...
BasePtr | GetChild (const std::string &_name)
| Get a child by name. More...
BasePtr | GetChild (unsigned int _i) const
| Get a child by index. More...
CollisionPtr | GetChildCollision (const std::string &_name)
| Get a child collision entity, if one exists. More...
unsigned int | GetChildCount () const
| Get the number of children. More...
LinkPtr | GetChildLink (const std::string &_name)
| Get a child linke entity, if one exists. More...
uint32_t | GetId () const
| Return the ID of this entity. More...
std::string | GetName () const
| Return the name of the entity. More...
void | GetNearestEntityBelow (double &_distBelow, std::string &_entityName)
| Get the distance to the nearest entity below (along the Z-axis) this entity. More...
BasePtr | GetParent () const
| Get the parent. More...
int | GetParentId () const
| Return the ID of the parent. More...
ModelPtr | GetParentModel ()
| Get the parent model, if one exists. More...
bool | GetSaveable () const
| Get whether the object should be "saved", when the user selects to save the world to xml. More...
std::string | GetScopedName (bool _prependWorldName=false) const
| Return the name of this entity with the model scope model1::...::modelN::entityName. More...
virtual const sdf::ElementPtr | GetSDF ()
| Get the SDF values for the object. More...
unsigned int | GetType () const
| Get the full type definition. More...
const WorldPtr & | GetWorld () const
| Get the World this object is in. More...
bool | HasType (const EntityType &_t) const
| Returns true if this object's type definition has the given type. More...
virtual void | Init ()
| Initialize the object. More...
ignition::math::Pose3d | InitialRelativePose () const
| Get the initial relative pose. More...
bool | IsCanonicalLink () const
| A helper function that checks if this is a canonical body. More...
bool | IsSelected () const
| True if the entity is selected by the user. More...
bool | IsStatic () const
| Return whether this entity is static. More...
virtual void | Load (sdf::ElementPtr _sdf)
| Load the entity. More...
bool | operator== (const Base &_ent) const
| Returns true if the entities are the same. More...
void | PlaceOnEntity (const std::string &_entityName)
| Move this entity to be ontop of another entity by name. More...
void | PlaceOnNearestEntityBelow ()
| Move this entity to be ontop of the nearest entity below. More...
void | Print (const std::string &_prefix)
| Print this object to screen via gzmsg. More...
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 (physics::BasePtr _child)
| Remove a child by pointer. More...
virtual void | RemoveChild (unsigned int _id)
| Remove a child from this entity. More...
void | RemoveChildren ()
| Remove all children. More...
virtual void | Reset ()
| Reset the entity. More...
virtual void | Reset ()
| Reset the object. More...
virtual void | Reset (Base::EntityType _resetType)
| Calls recursive Reset on one of the Base::EntityType's. More...
virtual void | Reset (Base::EntityType _resetType)
| Calls recursive Reset on one of the Base::EntityType's. More...
void | SetAnimation (common::PoseAnimationPtr _anim)
| Set an animation for this entity. More...
void | SetAnimation (const common::PoseAnimationPtr &_anim, boost::function< void()> _onComplete)
| Set an animation for this entity. More...
void | SetCanonicalLink (bool _value)
| Set to true if this entity is a canonical link for a model. More...
void | SetInitialRelativePose (const ignition::math::Pose3d &_pose)
| Set the initial pose. 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...
virtual bool | SetSelected (bool _show)
| Set whether this entity has been selected by the user through the gui. More...
void | SetStatic (const bool &_static)
| Set whether this entity is static: immovable. More...
void | SetWorld (const WorldPtr &_newWorld)
| Set the world this object belongs to. More...
void | SetWorldPose (const ignition::math::Pose3d &_pose, const bool _notify=true, const bool _publish=true)
| Set the world pose of the entity. More...
void | SetWorldTwist (const ignition::math::Vector3d &_linear, const ignition::math::Vector3d &_angular, const bool _updateChildren=true)
| Set angular and linear rates of an physics::Entity. More...
virtual void | StopAnimation ()
| Stop the current animation, if any. More...
std::string | TypeStr () const
| Get the string name for the entity type. More...
virtual void | Update ()
| Update the object. More...
virtual void | UpdateParameters (sdf::ElementPtr _sdf)
| Update the parameters using new sdf values. More...
common::URI | URI () const
| Return the common::URI of this entity. More...
virtual ignition::math::Vector3d | WorldAngularAccel () const
| Get the angular acceleration of the 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 ()=0
| This function is called when the entity's (or one of its parents) pose of the parent has changed. More...
virtual void | RegisterIntrospectionItems ()
| Register items in the introspection service. More...
virtual void | UnregisterIntrospectionItems ()
| Unregister items in the introspection service. More...

## Protected Attributes

common::PoseAnimationPtr | animation
| Current pose animation. More...
event::ConnectionPtr | animationConnection
| Connection used to update an animation. More...
ignition::math::Pose3d | animationStartPose
| Start pose of an animation. More...
Base_V | children
| Children of this entity. More...
std::vector< event::ConnectionPtr > | connections
| All our event connections. More...
ignition::math::Pose3d | dirtyPose
| The pose set by a physics engine. More...
std::vector< common::URI > | introspectionItems
| All the introspection items regsitered for this. More...
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...
common::Time | prevAnimationTime
| Previous time an animation was updated. More...
transport::PublisherPtr | requestPub
| Request publisher. More...
ignition::transport::Node::Publisher | requestPubIgn
| Request publisher. More...
ignition::math::Vector3d | scale
| Scale of the entity. More...
sdf::ElementPtr | sdf
| The SDF values for this object. More...
transport::PublisherPtr | visPub
| Visual publisher. More...
ignition::transport::Node::Publisher | visPubIgn
| Visual publisher. More...
msgs::Visual * | visualMsg
| Visual message container. More...
WorldPtr | world
| Pointer to the world. More...
ignition::math::Pose3d | worldPose
| World pose of the entity. More...

## Detailed Description

Base class for all physics objects in Gazebo.

## 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

## Entity()

Entity | ( | BasePtr | _parent | ) |

explicit

Constructor.

Parameters

  [in] | _parent | Parent of the entity.

## ~Entity()

virtual ~Entity | ( |  | ) |

virtual

Destructor.

## Member Function Documentation

## AddChild()

void AddChild | ( | BasePtr | _child | ) |

inherited

Add a child to this entity.

Parameters

  [in] | _child | Child entity.

## AddType()

void AddType | ( | EntityType | _type | ) |

inherited

Add a type specifier.

Parameters

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

## BoundingBox()

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

virtual

Return the bounding box for the entity.

Returns
  The bounding box.

Reimplemented in Collision, Link, Model, ODECollision, BulletCollision, DARTCollision, and SimbodyCollision.

## CollisionBoundingBox()

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

Returns collision bounding box.

Returns
  Collsion bounding box.

## ComputeScopedName()

void ComputeScopedName | ( |  | ) |

protected inherited

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

See also
  Base::GetScopedName

## DirtyPose()

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

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.

## Fini()

virtual void Fini | ( |  | ) |

virtual

Finalize the entity.

Reimplemented from Base.

Reimplemented in Actor, Model, Link, DARTModel, DARTCollision, DARTLink, ODECollision, SimbodyLink, BulletLink, ODELink, and Collision.

## 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 | ) |

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 | ) |

Get a child linke entity, if one exists.

Parameters

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

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

## GetId()

uint32_t GetId | ( |  | ) | const

inherited

Return the ID of this entity.

This id is unique.

Returns
  Integer ID.

## 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
| ) |  |

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 | ( |  | ) |

Get the parent model, if one exists.

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

## GetSaveable()

bool GetSaveable | ( |  | ) | const

inherited

Get whether the object should be "saved", when the user selects to save the world to xml.

Returns
  True if the object is saveable.

## GetScopedName()

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

inherited

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

Parameters

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

Returns
  The scoped name.

## GetSDF()

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

virtual inherited

Get the SDF values for the object.

Returns
  The SDF values for the object.

Reimplemented in Actor, and Model.

## GetType()

unsigned int GetType | ( |  | ) | const

inherited

Get the full type definition.

Returns
  The full type definition.

## GetWorld()

const WorldPtr& GetWorld | ( |  | ) | const

inherited

Get the World this object is in.

Returns
  The World this object is part of.

## HasType()

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

inherited

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

Parameters

  [in] | _t | Type to check.

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

## Init()

virtual void Init | ( |  | ) |

inline virtual inherited

Initialize the object.

Reimplemented in Shape, BulletJoint, DARTJoint, DARTScrewJoint, RayShape, Joint, Actor, ScrewJoint< ODEJoint >, ScrewJoint< DARTJoint >, ScrewJoint< SimbodyJoint >, ScrewJoint< BulletJoint >, GearboxJoint< ODEJoint >, Model, UniversalJoint< ODEJoint >, UniversalJoint< DARTJoint >, UniversalJoint< SimbodyJoint >, UniversalJoint< BulletJoint >, BallJoint< ODEJoint >, BallJoint< DARTJoint >, BallJoint< SimbodyJoint >, BallJoint< BulletJoint >, Link, BulletScrewJoint, MapShape, MultiRayShape, HeightmapShape, HingeJoint< ODEJoint >, HingeJoint< DARTJoint >, HingeJoint< SimbodyJoint >, HingeJoint< BulletJoint >, Collision, FixedJoint< ODEJoint >, FixedJoint< DARTJoint >, FixedJoint< SimbodyJoint >, FixedJoint< BulletJoint >, Road, BulletBallJoint, BulletHinge2Joint, DARTModel, BulletHeightmapShape, BulletUniversalJoint, DARTCollision, DARTLink, ODEGearboxJoint, SimbodyLink, BulletFixedJoint, BulletHingeJoint, BulletLink, BulletSliderJoint, DARTHeightmapShape, MeshShape, DARTMeshShape, ODELink, DARTPolylineShape, DARTSphereShape, DARTUniversalJoint, ODEMeshShape, PlaneShape, SimbodyMeshShape, BulletMeshShape, BulletPolylineShape, DARTBallJoint, DARTCylinderShape, DARTFixedJoint, DARTHinge2Joint, DARTHingeJoint, DARTSliderJoint, ODEPolylineShape, SimbodyHeightmapShape, SimbodyModel, SimbodyPolylineShape, DARTBoxShape, DARTPlaneShape, Light, ODEHeightmapShape, BoxShape, SphereShape, CylinderShape, and PolylineShape.

## InitialRelativePose()

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

Get the initial relative pose.

Returns
  The initial relative pose.

## IsCanonicalLink()

bool IsCanonicalLink | ( |  | ) | const

inline

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

Return whether this entity is static.

Returns
  True if static.

## Load()

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

virtual

Load the entity.

Parameters

  [in] | _sdf | Pointer to an SDF element.

Reimplemented from Base.

Reimplemented in Actor, Model, Link, Collision, DARTModel, ODECollision, DARTCollision, ODELink, SimbodyModel, BulletCollision, SimbodyCollision, DARTLink, SimbodyLink, and BulletLink.

## OnPoseChange()

virtual void OnPoseChange | ( |  | ) |

protected pure virtual

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

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

## operator==()

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

inherited

Returns true if the entities are the same.

Checks only the name.

Parameters

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

Returns
  True if the entities are the same.

## PlaceOnEntity()

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

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 | ( |  | ) |

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

## Print()

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

inherited

Print this object to screen via gzmsg.

Parameters

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

## RegisterIntrospectionItems()

virtual void RegisterIntrospectionItems | ( |  | ) |

protected virtual inherited

Register items in the introspection service.

Reimplemented in Link, Joint, and Model.

## RelativeAngularAccel()

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

virtual

Get the angular acceleration of the entity.

Returns
  A ignition::math::Vector3d for the acceleration.

Reimplemented in Link, Model, and Collision.

## RelativeAngularVel()

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

virtual

Get the angular velocity of the entity.

Returns
  A ignition::math::Vector3d for the velocity.

Reimplemented in Link, Model, and Collision.

## RelativeLinearAccel()

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

virtual

Get the linear acceleration of the entity.

Returns
  A ignition::math::Vector3d for the acceleration.

Reimplemented in Link, Model, and Collision.

## RelativeLinearVel()

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

virtual

Get the linear velocity of the entity.

Returns
  A ignition::math::Vector3d for the linear velocity.

Reimplemented in Link, Model, and Collision.

## RelativePose()

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

Get the pose of the entity relative to its parent.

Returns
  The pose of the entity relative to its parent.

## RemoveChild() [1/3]

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

inherited

Remove a child by name.

Parameters

  [in] | _name | Name of the child.

## RemoveChild() [2/3]

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

inherited

Remove a child by pointer.

Parameters

  [in] | _child | Pointer to the child.

## RemoveChild() [3/3]

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

virtual inherited

Remove a child from this entity.

Parameters

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

## RemoveChildren()

void RemoveChildren | ( |  | ) |

inherited

Remove all children.

## Reset() [1/4]

virtual void Reset | ( |  | ) |

virtual

Reset the entity.

Reimplemented from Base.

Reimplemented in Actor, Model, and Link.

## Reset() [2/4]

virtual void Reset

Reset the object.

## Reset() [3/4]

virtual void Reset

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

Parameters

  [in] | _resetType | The type of reset operation

## Reset() [4/4]

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

virtual inherited

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

Parameters

  [in] | _resetType | The type of reset operation

## SetAnimation() [1/2]

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

Set an animation for this entity.

Parameters

  [in] | _anim | Pose animation.

## SetAnimation() [2/2]

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

Set an animation for this entity.

Parameters

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

## SetCanonicalLink()

void SetCanonicalLink | ( | bool | _value | ) |

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

Parameters

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

## SetInitialRelativePose()

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

Set the initial pose.

Parameters

  [in] | _pose | The initial pose.

## SetName()

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

virtual

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`
| ) |  |

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.

## 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.

## SetStatic()

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

Set whether this entity is static: immovable.

Parameters

  [in] | _static | True = static.

## SetWorld()

void SetWorld | ( | const WorldPtr & | _newWorld | ) |

inherited

Set the world this object belongs to.

This will also set the world for all children.

Parameters

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

## SetWorldPose()

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

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`
| ) |  |

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

Parameters

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

## StopAnimation()

virtual void StopAnimation | ( |  | ) |

virtual

Stop the current animation, if any.

Reimplemented in Model.

## TypeStr()

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

inherited

Get the string name for the entity type.

Returns
  The string name for this entity.

## UnregisterIntrospectionItems()

virtual void UnregisterIntrospectionItems | ( |  | ) |

protected virtual inherited

Unregister items in the introspection service.

## Update()

virtual void Update | ( |  | ) |

inline virtual inherited

Update the object.

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

## UpdateParameters()

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

virtual

Update the parameters using new sdf values.

Parameters

  [in] | _sdf | SDF to update from.

Reimplemented from Base.

Reimplemented in Actor, Model, Link, and Collision.

## URI()

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

inherited

Return the common::URI of this entity.

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

Returns
  The URI of this entity.

## WorldAngularAccel()

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

virtual

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

Returns
  A ignition::math::Vector3d for the acceleration.

Reimplemented in Link, Model, and Collision.

## WorldAngularVel()

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

virtual

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

Returns
  A ignition::math::Vector3d for the velocity.

Reimplemented in Model, Collision, ODELink, DARTLink, SimbodyLink, and BulletLink.

## WorldLinearAccel()

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

virtual

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

Returns
  A ignition::math::Vector3d for the acceleration.

Reimplemented in Link, Model, and Collision.

## WorldLinearVel()

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

virtual

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

Returns
  A ignition::math::Vector3d for the linear velocity.

Reimplemented in Link, Model, and Collision.

## WorldPose()

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

inline virtual

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

## animation

common::PoseAnimationPtr animation

protected

Current pose animation.

## animationConnection

event::ConnectionPtr animationConnection

protected

Connection used to update an animation.

## animationStartPose

ignition::math::Pose3d animationStartPose

protected

Start pose of an animation.

## children

Base_V children

protected inherited

Children of this entity.

## connections

std::vector<event::ConnectionPtr> connections

protected

All our event connections.

## dirtyPose

ignition::math::Pose3d dirtyPose

protected

The pose set by a physics engine.

## introspectionItems

std::vector<common::URI> introspectionItems

protected inherited

All the introspection items regsitered for this.

## node

transport::NodePtr node

protected

Communication node.

## nodeIgn

ignition::transport::Node nodeIgn

protected

Ignition communication node.

## parent

BasePtr parent

protected inherited

Parent of this entity.

## parentEntity

EntityPtr parentEntity

protected

A helper that prevents numerous dynamic_casts.

## prevAnimationTime

common::Time prevAnimationTime

protected

Previous time an animation was updated.

## requestPub

transport::PublisherPtr requestPub

protected

Request publisher.

## requestPubIgn

ignition::transport::Node::Publisher requestPubIgn

protected

Request publisher.

## scale

ignition::math::Vector3d scale

protected

Scale of the entity.

## sdf

sdf::ElementPtr sdf

protected inherited

The SDF values for this object.

## visPub

transport::PublisherPtr visPub

protected

Visual publisher.

## visPubIgn

ignition::transport::Node::Publisher visPubIgn

protected

Visual publisher.

## visualMsg

msgs::Visual* visualMsg

protected

Visual message container.

## world

WorldPtr world

protected inherited

Pointer to the world.

## worldPose

ignition::math::Pose3d worldPose

mutable protected

World pose of the entity.

Referenced by Entity::WorldPose().

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

- Entity.hh