##

gazebo::physics Namespace Reference
Physics

namespace for physics More...

## Classes

class | Actor
| Actor class enables GPU based mesh model / skeleton scriptable animation. More...
class | AdiabaticAtmosphere
| Adiabatic atmosphere model based on the troposphere model in the Manual of the ICAO Standard Atmosphere. More...
class | Atmosphere
| This models a base atmosphere class to serve as a common interface to any derived atmosphere models. More...
class | AtmosphereFactory
| The atmosphere factory instantiates different atmosphere models. More...
class | BallJoint
| Base class for a ball joint. More...
class | Base
| Base class for most physics classes. More...
class | BoxShape
| Box geometry primitive. More...
class | BulletBallJoint
| BulletBallJoint class models a ball joint in Bullet. More...
class | BulletBoxShape
| Bullet box collision. More...
class | BulletCollision
| Bullet collisions. More...
class | BulletCylinderShape
| Cylinder collision. More...
class | BulletFixedJoint
| A fixed joint. More...
class | BulletHeightmapShape
| Height map collision. More...
class | BulletHinge2Joint
| A two axis hinge joint. More...
class | BulletHingeJoint
| A single axis hinge joint. More...
class | BulletJoint
| Base class for all joints. More...
class | BulletLink
| Bullet Link class. More...
class | BulletMesh
| Triangle mesh collision helper class. More...
class | BulletMeshShape
| Triangle mesh collision. More...
class | BulletMotionState
| Bullet btMotionState encapsulation. More...
class | BulletMultiRayShape
| Bullet specific version of MultiRayShape. More...
class | BulletPhysics
| Bullet physics engine. More...
class | BulletPlaneShape
| Bullet collision for an infinite plane. More...
class | BulletPolylineShape
| Bullet polyline shape. More...
class | BulletRayShape
| Ray shape for bullet. More...
class | BulletScrewJoint
| A screw joint. More...
class | BulletSliderJoint
| A slider joint. More...
class | BulletSphereShape
| Bullet sphere collision. More...
class | BulletSurfaceParams
| Bullet surface parameters. More...
class | BulletTypes
| A set of functions for converting between the math types used by gazebo and bullet. More...
class | BulletUniversalJoint
| A bullet universal joint class. More...
class | Collision
| Base class for all collision entities. More...
class | CollisionState
| Store state information of a physics::Collision object. More...
class | Contact
| A contact between two collisions. Each contact can consist of a number of contact points. More...
class | ContactManager
| Aggregates all the contact information generated by the collision detection engine. More...
class | ContactPublisher
| A custom contact publisher created for each contact filter in the Contact Manager. More...
class | CylinderShape
| Cylinder collision. More...
class | DARTBallJoint
| An DARTBallJoint. More...
class | DARTBoxShape
| DART Box shape. More...
class | DARTCollision
| Base class for all DART collisions. More...
class | DARTCylinderShape
| DART cylinder shape. More...
class | DARTFixedJoint
| A single axis hinge joint. More...
class | DARTHeightmapShape
| DART Height map collision. More...
class | DARTHinge2Joint
| A two axis hinge joint. More...
class | DARTHingeJoint
| A single axis hinge joint. More...
class | DARTJoint
| DART joint interface. More...
class | DARTLink
| DART Link class. More...
class | DARTMesh
| Triangle mesh collision helper class. More...
class | DARTMeshShape
| Triangle mesh collision. More...
class | DARTModel
| DART model class. More...
class | DARTMultiRayShape
| DART specific version of MultiRayShape. More...
class | DARTPhysics
| DART physics engine. More...
class | DARTPlaneShape
| An DART Plane shape. More...
class | DARTPolylineShape
| DART polyline shape. More...
class | DARTRayShape
| Ray collision. More...
class | DARTScrewJoint
| A screw joint. More...
class | DARTSliderJoint
| A slider joint. More...
class | DARTSphereShape
| A DART sphere shape. More...
class | DARTSurfaceParams
| DART surface parameters. More...
class | DARTTypes
| A set of functions for converting between the math types used by gazebo and dart. More...
class | DARTUniversalJoint
| A universal joint. More...
class | Entity
| Base class for all physics objects in Gazebo. More...
class | FixedJoint
| A fixed joint rigidly connecting two bodies. More...
class | FrictionPyramid
| Parameters used for friction pyramid model. More...
class | GearboxJoint
| A double axis gearbox joint. More...
class | Gripper
| A gripper abstraction. More...
class | HeightmapShape
| HeightmapShape collision shape builds a heightmap from an image. The supplied image must be square with N*N+1 pixels per side, where N is an integer. More...
class | Hinge2Joint
| A two axis hinge joint. More...
class | HingeJoint
| A single axis hinge joint. More...
class | Inertial
| A class for inertial information about a link. More...
class | Joint
| Base class for all joints. More...
class | JointController
| A class for manipulating physics::Joint. More...
class | JointState
| keeps track of state of a physics::Joint More...
class | JointWrench
| Wrench information from a joint. These are forces and torques on parent and child Links, relative to the Joint frame immediately after rotation. More...
class | Light
| A light entity. More...
class | LightState
| Store state information of a Light object. More...
class | Link
| Link class defines a rigid body entity, containing information on inertia, visual and collision properties of a rigid body. More...
class | LinkState
| Store state information of a physics::Link object. More...
class | MapShape
| Creates box extrusions based on an image. This function is not yet complete, to be implemented. More...
class | MeshShape
| Triangle mesh collision shape. More...
class | Model
| A model is a collection of links, joints, and plugins. More...
class | ModelState
| Store state information of a physics::Model object. More...
class | MultiRayShape
| Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner. More...
class | ODEBallJoint
| An ODEBallJoint. More...
class | ODEBoxShape
| ODE Box shape. More...
class | ODECollision
| Base class for all ODE collisions. More...
class | ODECylinderShape
| ODE cylinder shape. More...
class | ODEFixedJoint
| A fixed joint. More...
class | ODEGearboxJoint
| A double axis gearbox joint. More...
class | ODEHeightmapShape
| ODE Height map collision. More...
class | ODEHinge2Joint
| A two axis hinge joint. More...
class | ODEHingeJoint
| A single axis hinge joint. More...
class | ODEJoint
| ODE joint interface. More...
class | ODELink
| ODE Link class. More...
class | ODEMesh
| Triangle mesh helper class. More...
class | ODEMeshShape
| Triangle mesh collision. More...
class | ODEMultiRayShape
| ODE specific version of MultiRayShape. More...
class | ODEPhysics
| ODE physics engine. More...
class | ODEPlaneShape
| An ODE Plane shape. More...
class | ODEPolylineShape
| ODE polyline shape. More...
class | ODERayShape
| Ray collision. More...
class | ODEScrewJoint
| A screw joint. More...
class | ODESliderJoint
| A slider joint. More...
class | ODESphereShape
| A ODE sphere shape. More...
class | ODESurfaceParams
| ODE surface parameters. More...
class | ODEUniversalJoint
| A universal joint. More...
class | PhysicsEngine
| Base class for a physics engine. More...
class | PhysicsFactory
| The physics factory instantiates different physics engines. More...
class | PlaneShape
| Collision for an infinite plane. More...
class | PolylineShape
| Polyline geometry primitive. More...
class | Population
| Class that automatically populates an environment with multiple objects based on several parameters to define the number of objects, shape of the object distribution or type of distribution. More...
class | PopulationParams
| Stores all the posible parameters that define a population. More...
class | Preset
| Representation of a preset physics profile. More...
class | PresetManager
| Class to manage preset physics profiles. More...
class | RayShape
| Base class for Ray collision geometry. More...
class | Road
| for building a Road from SDF More...
class | ScrewJoint
| A screw joint, which has both prismatic and rotational DOFs. More...
class | Shape
| Base class for all shapes. More...
class | SimbodyBallJoint
| SimbodyBallJoint class models a ball joint in Simbody. More...
class | SimbodyBoxShape
| Simbody box collision. More...
class | SimbodyCollision
| Simbody collisions. More...
class | SimbodyCylinderShape
| Cylinder collision. More...
class | SimbodyFixedJoint
| A fixed joint rigidly connecting two bodies. More...
class | SimbodyHeightmapShape
| Height map collision. More...
class | SimbodyHinge2Joint
| A two axis hinge joint. More...
class | SimbodyHingeJoint
| A single axis hinge joint. More...
class | SimbodyJoint
| Base class for all joints. More...
class | SimbodyLink
| Simbody Link class. More...
class | SimbodyMesh
| Triangle mesh collision helper class. More...
class | SimbodyMeshShape
| Triangle mesh collision. More...
class | SimbodyModel
| A model is a collection of links, joints, and plugins. More...
class | SimbodyMultiRayShape
| Simbody specific version of MultiRayShape. More...
class | SimbodyPhysics
| Simbody physics engine. More...
class | SimbodyPlaneShape
| Simbody collision for an infinite plane. More...
class | SimbodyPolylineShape
| Simbody polyline shape. More...
class | SimbodyRayShape
| Ray shape for simbody. More...
class | SimbodyScrewJoint
| A screw joint. More...
class | SimbodySliderJoint
| A slider joint. More...
class | SimbodySphereShape
| Simbody sphere collision. More...
class | SimbodyUniversalJoint
| A simbody universal joint class. More...
class | SliderJoint
| A slider joint. More...
class | SphereShape
| Sphere collision shape. More...
class | State
| State of an entity. More...
class | SurfaceParams
| SurfaceParams defines various Surface contact parameters. These parameters defines the properties of a physics::Contact constraint. More...
class | TrajectoryInfo
| Information about a trajectory for an Actor. More...
class | UniversalJoint
| A universal joint. Axis1 and axis2 are body-fixed, with axis1 attached to parent body and axis2 attached to child body. More...
class | UserCmd
| Class which represents a user command, which can be "undone" and "redone". More...
class | UserCmdManager
| Manages user commands from the server side. More...
class | Wind
| Base class for wind. More...
class | World
| The world provides access to all other object within a simulated environment. More...
class | WorldState
| Store state information of a physics::World object. More...

## Typedefs

typedef std::vector< ActorPtr > | Actor_V
typedef boost::shared_ptr< Actor > | ActorPtr
typedef std::unique_ptr< Atmosphere >(* | AtmosphereFactoryFn) (World &world)
typedef std::vector< BasePtr > | Base_V
typedef boost::shared_ptr< Base > | BasePtr
typedef boost::shared_ptr< BoxShape > | BoxShapePtr
typedef boost::shared_ptr< BulletCollision > | BulletCollisionPtr
typedef boost::shared_ptr< BulletLink > | BulletLinkPtr
typedef boost::shared_ptr< BulletMotionState > | BulletMotionStatePtr
typedef boost::shared_ptr< BulletPhysics > | BulletPhysicsPtr
typedef boost::shared_ptr< BulletRayShape > | BulletRayShapePtr
typedef boost::shared_ptr< BulletSurfaceParams > | BulletSurfaceParamsPtr
typedef std::vector< CollisionPtr > | Collision_V
typedef boost::shared_ptr< Collision > | CollisionPtr
typedef boost::shared_ptr< Contact > | ContactPtr
typedef boost::shared_ptr< CylinderShape > | CylinderShapePtr
using | DARTBodyNodePropPtr = std::shared_ptr< dart::dynamics::BodyNode::Properties >
typedef boost::shared_ptr< DARTCollision > | DARTCollisionPtr
using | DARTJointPropPtr = std::shared_ptr< dart::dynamics::Joint::Properties >
typedef boost::shared_ptr< DARTJoint > | DARTJointPtr
typedef boost::shared_ptr< DARTLink > | DARTLinkPtr
typedef boost::shared_ptr< DARTModel > | DARTModelPtr
typedef boost::shared_ptr< DARTPhysics > | DARTPhysicsPtr
typedef boost::shared_ptr< DARTRayShape > | DARTRayShapePtr
typedef boost::shared_ptr< DARTSurfaceParams > | DARTSurfaceParamsPtr
typedef boost::shared_ptr< Entity > | EntityPtr
typedef boost::shared_ptr< FrictionPyramid > | FrictionPyramidPtr
typedef boost::shared_ptr< Gripper > | GripperPtr
typedef boost::shared_ptr< HeightmapShape > | HeightmapShapePtr
typedef boost::shared_ptr< Inertial > | InertialPtr
typedef std::vector< JointPtr > | Joint_V
typedef std::vector< JointControllerPtr > | JointController_V
typedef boost::shared_ptr< JointController > | JointControllerPtr
typedef boost::shared_ptr< Joint > | JointPtr
typedef std::map< std::string, JointState > | JointState_M
typedef std::vector< LightPtr > | Light_V
typedef boost::shared_ptr< Light > | LightPtr
typedef std::map< std::string, LightState > | LightState_M
typedef std::vector< LinkPtr > | Link_V
typedef boost::shared_ptr< Link > | LinkPtr
typedef std::map< std::string, LinkState > | LinkState_M
typedef boost::shared_ptr< MeshShape > | MeshShapePtr
typedef std::vector< ModelPtr > | Model_V
typedef boost::shared_ptr< Model > | ModelPtr
typedef std::map< std::string, ModelState > | ModelState_M
typedef boost::shared_ptr< MultiRayShape > | MultiRayShapePtr
typedef boost::shared_ptr< ODECollision > | ODECollisionPtr
typedef boost::shared_ptr< ODEJoint > | ODEJointPtr
typedef boost::shared_ptr< ODELink > | ODELinkPtr
typedef boost::shared_ptr< ODEPhysics > | ODEPhysicsPtr
typedef boost::shared_ptr< ODERayShape > | ODERayShapePtr
typedef boost::shared_ptr< ODESurfaceParams > | ODESurfaceParamsPtr
typedef boost::shared_ptr< PhysicsEngine > | PhysicsEnginePtr
typedef PhysicsEnginePtr(* | PhysicsFactoryFn) (WorldPtr world)
typedef boost::shared_ptr< PlaneShape > | PlaneShapePtr
typedef boost::shared_ptr< PolylineShape > | PolylineShapePtr
typedef boost::shared_ptr< PresetManager > | PresetManagerPtr
typedef boost::shared_ptr< RayShape > | RayShapePtr
typedef boost::shared_ptr< Road > | RoadPtr
typedef boost::shared_ptr< Shape > | ShapePtr
typedef boost::shared_ptr< SimbodyCollision > | SimbodyCollisionPtr
typedef boost::shared_ptr< SimbodyLink > | SimbodyLinkPtr
typedef boost::shared_ptr< SimbodyModel > | SimbodyModelPtr
typedef boost::shared_ptr< SimbodyPhysics > | SimbodyPhysicsPtr
typedef boost::shared_ptr< SimbodyRayShape > | SimbodyRayShapePtr
typedef boost::shared_ptr< SphereShape > | SphereShapePtr
typedef boost::shared_ptr< SurfaceParams > | SurfaceParamsPtr
typedef std::shared_ptr< TrajectoryInfo > | TrajectoryInfoPtr
typedef std::shared_ptr< UserCmdManager > | UserCmdManagerPtr
typedef std::shared_ptr< UserCmd > | UserCmdPtr
typedef boost::shared_ptr< World > | WorldPtr

## Functions

WorldPtr | create_world (const std::string &_name="")
| Create a world given a name. More...
bool | fini ()
| Finalize transport by calling gazebo::transport::fini. More...
WorldPtr | get_world (const std::string &_name="")
| Returns a pointer to a world by name. More...
uint32_t | getUniqueId ()
| Get a unique ID. More...
bool | has_world (const std::string &_name="")
| checks if the world with this name exists. More...
void | init_world (WorldPtr _world)
| Init world given a pointer to it. More...
void | init_worlds ()
| initialize multiple worlds stored in static variable gazebo::g_worlds More...
bool | load ()
| Setup gazebo::SystemPlugin's and call gazebo::transport::init. More...
void | load_world (WorldPtr _world, sdf::ElementPtr _sdf)
| Load world from sdf::Element pointer. More...
void | load_worlds (sdf::ElementPtr _sdf)
| load multiple worlds from single sdf::Element pointer More...
void | pause_world (WorldPtr _world, bool _pause)
| Pause world by calling World::SetPaused. More...
void | pause_worlds (bool pause)
| pause multiple worlds stored in static variable gazebo::g_worlds More...
void | remove_worlds ()
| remove multiple worlds stored in static variable gazebo::g_worlds More...
void | run_world (WorldPtr _world, unsigned int _iterations=0)
| Run world by calling World::Run() given a pointer to it. More...
void | run_worlds (unsigned int _iterations=0)
| Run multiple worlds stored in static variable gazebo::g_worlds. More...
void | stop_world (WorldPtr _world)
| Stop world by calling World::Stop() given a pointer to it. More...
void | stop_worlds ()
| stop multiple worlds stored in static variable gazebo::g_worlds More...
bool | worlds_running ()
| Return true if any world is running. More...

## Variables

static std::string | EntityTypename []
| String names for the different entity types. More...

## Detailed Description

namespace for physics

Physics forward declarations and type defines.

physics namespace

## Typedef Documentation

## Actor_V

typedef std::vector<ActorPtr> Actor_V

## ActorPtr

typedef boost::shared_ptr<Actor> ActorPtr

## Base_V

typedef std::vector<BasePtr> Base_V

## BasePtr

typedef boost::shared_ptr<Base> BasePtr

## BoxShapePtr

typedef boost::shared_ptr<BoxShape> BoxShapePtr

## BulletCollisionPtr

typedef boost::shared_ptr<BulletCollision> BulletCollisionPtr

## BulletLinkPtr

typedef boost::shared_ptr<BulletLink> BulletLinkPtr

## BulletMotionStatePtr

typedef boost::shared_ptr<BulletMotionState> BulletMotionStatePtr

## BulletPhysicsPtr

typedef boost::shared_ptr<BulletPhysics> BulletPhysicsPtr

## BulletRayShapePtr

typedef boost::shared_ptr<BulletRayShape> BulletRayShapePtr

## BulletSurfaceParamsPtr

typedef boost::shared_ptr<BulletSurfaceParams> BulletSurfaceParamsPtr

## Collision_V

typedef std::vector<CollisionPtr> Collision_V

## CollisionPtr

typedef boost::shared_ptr<Collision> CollisionPtr

## ContactPtr

typedef boost::shared_ptr<Contact> ContactPtr

## CylinderShapePtr

typedef boost::shared_ptr<CylinderShape> CylinderShapePtr

## DARTBodyNodePropPtr

using DARTBodyNodePropPtr = std::shared_ptr<dart::dynamics::BodyNode::Properties>

## DARTCollisionPtr

typedef boost::shared_ptr<DARTCollision> DARTCollisionPtr

## DARTJointPropPtr

using DARTJointPropPtr = std::shared_ptr<dart::dynamics::Joint::Properties>

## DARTJointPtr

typedef boost::shared_ptr<DARTJoint> DARTJointPtr

## DARTLinkPtr

typedef boost::shared_ptr<DARTLink> DARTLinkPtr

## DARTModelPtr

typedef boost::shared_ptr<DARTModel> DARTModelPtr

## DARTPhysicsPtr

typedef boost::shared_ptr<DARTPhysics> DARTPhysicsPtr

## DARTRayShapePtr

typedef boost::shared_ptr<DARTRayShape> DARTRayShapePtr

## DARTSurfaceParamsPtr

typedef boost::shared_ptr<DARTSurfaceParams> DARTSurfaceParamsPtr

## EntityPtr

typedef boost::shared_ptr<Entity> EntityPtr

## FrictionPyramidPtr

typedef boost::shared_ptr<FrictionPyramid> FrictionPyramidPtr

## GripperPtr

typedef boost::shared_ptr<Gripper> GripperPtr

## HeightmapShapePtr

typedef boost::shared_ptr<HeightmapShape> HeightmapShapePtr

## InertialPtr

typedef boost::shared_ptr<Inertial> InertialPtr

## Joint_V

typedef std::vector<JointPtr> Joint_V

## JointController_V

typedef std::vector<JointControllerPtr> JointController_V

## JointControllerPtr

typedef boost::shared_ptr<JointController> JointControllerPtr

## JointPtr

typedef boost::shared_ptr<Joint> JointPtr

## JointState_M

typedef std::map<std::string, JointState> JointState_M

## Light_V

typedef std::vector<LightPtr> Light_V

## LightPtr

typedef boost::shared_ptr<Light> LightPtr

## LightState_M

typedef std::map<std::string, LightState> LightState_M

## Link_V

typedef std::vector<LinkPtr> Link_V

## LinkPtr

typedef boost::shared_ptr<Link> LinkPtr

## LinkState_M

typedef std::map<std::string, LinkState> LinkState_M

## MeshShapePtr

typedef boost::shared_ptr<MeshShape> MeshShapePtr

## Model_V

typedef std::vector<ModelPtr> Model_V

## ModelPtr

typedef boost::shared_ptr<Model> ModelPtr

## ModelState_M

typedef std::map<std::string, ModelState> ModelState_M

## MultiRayShapePtr

typedef boost::shared_ptr<MultiRayShape> MultiRayShapePtr

## PhysicsEnginePtr

typedef boost::shared_ptr<PhysicsEngine> PhysicsEnginePtr

## PlaneShapePtr

typedef boost::shared_ptr<PlaneShape> PlaneShapePtr

## PolylineShapePtr

typedef boost::shared_ptr<PolylineShape> PolylineShapePtr

## PresetManagerPtr

typedef boost::shared_ptr<PresetManager> PresetManagerPtr

## RayShapePtr

typedef boost::shared_ptr<RayShape> RayShapePtr

## RoadPtr

typedef boost::shared_ptr<Road> RoadPtr

## ShapePtr

typedef boost::shared_ptr<Shape> ShapePtr

## SphereShapePtr

typedef boost::shared_ptr<SphereShape> SphereShapePtr

## SurfaceParamsPtr

typedef boost::shared_ptr<SurfaceParams> SurfaceParamsPtr

## TrajectoryInfoPtr

typedef std::shared_ptr<TrajectoryInfo> TrajectoryInfoPtr

## UserCmdManagerPtr

typedef std::shared_ptr<UserCmdManager> UserCmdManagerPtr

## UserCmdPtr

typedef std::shared_ptr<UserCmd> UserCmdPtr

## WorldPtr

typedef boost::shared_ptr<World> WorldPtr