##

ModelState Class Reference
Physics

Store state information of a physics::Model object. More...

`#include <physics/physics.hh>`

Inherits State.

## Public Member Functions

| ModelState ()
| Default constructor. More...
| ModelState (const ModelPtr _model)
| Constructor. More...
| ModelState (const ModelPtr _model, const common::Time &_realTime, const common::Time &_simTime, const uint64_t _iterations)
| Constructor. More...
| ModelState (const sdf::ElementPtr _sdf)
| Constructor. More...
virtual | ~ModelState ()
| Destructor. More...
void | FillSDF (sdf::ElementPtr _sdf)
| Populate a state SDF element with data from the object. More...
uint64_t | GetIterations () const
| Get the iterations when this state was generated. More...
JointState | GetJointState (const std::string &_jointName) const
| Get a Joint state by Joint name. More...
JointState | GetJointState (unsigned int _index) const
| Get a Joint state. More...
unsigned int | GetJointStateCount () const
| Get the number of joint states. More...
const JointState_M & | GetJointStates () const
| Get the joint states. More...
JointState_M | GetJointStates (const boost::regex &_regex) const
| Get joint states based on a regular expression. More...
LinkState | GetLinkState (const std::string &_linkName) const
| Get a link state by Link name. More...
unsigned int | GetLinkStateCount () const
| Get the number of link states. More...
const LinkState_M & | GetLinkStates () const
| Get the link states. More...
LinkState_M | GetLinkStates (const boost::regex &_regex) const
| Get link states based on a regular expression. More...
std::string | GetName () const
| Get the name associated with this State. More...
common::Time | GetRealTime () const
| Get the real time when this state was generated. More...
common::Time | GetSimTime () const
| Get the sim time when this state was generated. More...
common::Time | GetWallTime () const
| Get the wall time when this state was generated. More...
bool | HasJointState (const std::string &_jointName) const
| Return true if there is a joint with the specified name. More...
bool | HasLinkState (const std::string &_linkName) const
| Return true if there is a link with the specified name. More...
bool | HasNestedModelState (const std::string &_modelName) const
| Return true if there is a nested model with the specified name. More...
bool | IsZero () const
| Return true if the values in the state are zero. More...
void | Load (const ModelPtr _model, const common::Time &_realTime, const common::Time &_simTime, const uint64_t _iterations)
| Load state from Model pointer. More...
virtual void | Load (const sdf::ElementPtr _elem)
| Load state from SDF element. More...
ModelState | NestedModelState (const std::string &_modelName) const
| Get a model state by model name. More...
unsigned int | NestedModelStateCount () const
| Get the number of model states. More...
const ModelState_M & | NestedModelStates () const
| Get the nested model states. More...
ModelState | operator+ (const ModelState &_state) const
| Addition operator. More...
ModelState | operator- (const ModelState &_state) const
| Subtraction operator. More...
State | operator- (const State &_state) const
| Subtraction operator. More...
ModelState & | operator= (const ModelState &_state)
| Assignment operator. More...
const ignition::math::Pose3d & | Pose () const
| Get the stored model pose. More...
const ignition::math::Vector3d & | Scale () const
| Get the stored model scale. More...
virtual void | SetIterations (const uint64_t _iterations)
| Set the simulation iterations when this state was generated. More...
void | SetName (const std::string &_name)
| Set the name associated with this State. More...
virtual void | SetRealTime (const common::Time &_time)
| Set the real time when this state was generated. More...
virtual void | SetSimTime (const common::Time &_time)
| Set the sim time when this state was generated. More...
virtual void | SetWallTime (const common::Time &_time)
| Set the wall time when this state was generated. More...

## Protected Attributes

uint64_t | iterations = 0
| The number of simulation iterations when this state was generated. More...
std::string | name
| Name associated with this State. More...
common::Time | realTime
common::Time | simTime
common::Time | wallTime
| Times for the state data. More...

## Friends

std::ostream & | operator<< (std::ostream &_out, const gazebo::physics::ModelState &_state)
| Stream insertion operator. More...

## Detailed Description

Store state information of a physics::Model object.

This class captures the entire state of a Model at one specific time during a simulation run.

State of a Model includes the state of all its child Links and Joints.

## Constructor & Destructor Documentation

## ModelState() [1/4]

ModelState | ( |  | ) |

Default constructor.

## ModelState() [2/4]

ModelState | ( | const ModelPtr | _model,
|  | const common::Time & | _realTime,
|  | const common::Time & | _simTime,
|  | const uint64_t | _iterations
| ) |  |

Constructor.

Build a ModelState from an existing Model.

Parameters

  [in] | _model | Pointer to the model from which to gather state info.
  [in] | _realTime | Real time stamp.
  [in] | _simTime | Sim time stamp.
  [in] | _iterations | Simulation iterations.

## ModelState() [3/4]

ModelState | ( | const ModelPtr | _model | ) |

explicit

Constructor.

Build a ModelState from an existing Model.

Parameters

  [in] | _model | Pointer to the model from which to gather state info.

## ModelState() [4/4]

ModelState | ( | const sdf::ElementPtr | _sdf | ) |

explicit

Constructor.

Build a ModelState from SDF data

Parameters

  [in] | _sdf | SDF data to load a model state from.

## ~ModelState()

virtual ~ModelState | ( |  | ) |

virtual

Destructor.

## Member Function Documentation

## FillSDF()

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

Populate a state SDF element with data from the object.

Parameters

  [out] | _sdf | SDF element to populate.

## GetIterations()

uint64_t GetIterations | ( |  | ) | const

inherited

Get the iterations when this state was generated.

Returns
  Iterations when the data was recorded

## GetJointState() [1/2]

JointState GetJointState | ( | const std::string & | _jointName | ) | const

Get a Joint state by Joint name.

Searches through all JointStates. Returns the JointState with the matching name, if any.

Parameters

  [in] | _jointName | Name of the JointState.

Returns
  State of the Joint.

Exceptions

  common::Exception | When _jointName is invalid.

## GetJointState() [2/2]

JointState GetJointState | ( | unsigned int | _index | ) | const

Get a Joint state.

Return a JointState based on a index, where index is between 0...ModelState::GetJointStateCount().

Parameters

  [in] | _index | Index of a JointState.

Returns
  State of a Joint.

Exceptions

  common::Exception | When _index is out of range.

## GetJointStateCount()

unsigned int GetJointStateCount | ( |  | ) | const

Get the number of joint states.

Returns the number of JointStates recorded.

Returns
  Number of JointStates.

## GetJointStates() [1/2]

const JointState_M& GetJointStates | ( |  | ) | const

Get the joint states.

Returns
  A map of joint states.

## GetJointStates() [2/2]

JointState_M GetJointStates | ( | const boost::regex & | _regex | ) | const

Get joint states based on a regular expression.

Parameters

  [in] | _regex | The regular expression.

Returns
  List of joint states whose names match the regular expression.

## GetLinkState()

LinkState GetLinkState | ( | const std::string & | _linkName | ) | const

Get a link state by Link name.

Searches through all LinkStates. Returns the LinkState with the matching name, if any.

Parameters

  [in] | _linkName | Name of the LinkState

Returns
  State of the Link.

Exceptions

  common::Exception | When _linkName is invalid.

## GetLinkStateCount()

unsigned int GetLinkStateCount | ( |  | ) | const

Get the number of link states.

This returns the number of Links recorded.

Returns
  Number of LinkState recorded.

## GetLinkStates() [1/2]

const LinkState_M& GetLinkStates | ( |  | ) | const

Get the link states.

Returns
  A map of link states.

## GetLinkStates() [2/2]

LinkState_M GetLinkStates | ( | const boost::regex & | _regex | ) | const

Get link states based on a regular expression.

Parameters

  [in] | _regex | The regular expression.

Returns
  List of link states whose names match the regular expression.

## GetName()

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

inherited

Get the name associated with this State.

Returns
  Name associated with this state information. Typically a name of an Entity.

## GetRealTime()

common::Time GetRealTime | ( |  | ) | const

inherited

Get the real time when this state was generated.

Returns
  Clock time since simulation was stated.

## GetSimTime()

common::Time GetSimTime | ( |  | ) | const

inherited

Get the sim time when this state was generated.

Returns
  Simulation time when the data was recorded.

## GetWallTime()

common::Time GetWallTime | ( |  | ) | const

inherited

Get the wall time when this state was generated.

Returns
  The absolute clock time when the State data was recorded.

## HasJointState()

bool HasJointState | ( | const std::string & | _jointName | ) | const

Return true if there is a joint with the specified name.

Parameters

  [in] | _jointName | Name of the Jointtate.

Returns
  True if the joint exists in the model.

## HasLinkState()

bool HasLinkState | ( | const std::string & | _linkName | ) | const

Return true if there is a link with the specified name.

Parameters

  [in] | _linkName | Name of the LinkState.

Returns
  True if the link exists in the model.

## HasNestedModelState()

bool HasNestedModelState | ( | const std::string & | _modelName | ) | const

Return true if there is a nested model with the specified name.

Parameters

  [in] | _modelName | Name of the model state.

Returns
  True if the model exists in this model state.

## IsZero()

bool IsZero | ( |  | ) | const

Return true if the values in the state are zero.

Returns
  True if the values in the state are zero.

## Load() [1/2]

void Load | ( | const ModelPtr | _model,
|  | const common::Time & | _realTime,
|  | const common::Time & | _simTime,
|  | const uint64_t | _iterations
| ) |  |

Load state from Model pointer.

Build a ModelState from an existing Model.

Parameters

  [in] | _model | Pointer to the model from which to gather state info.
  [in] | _realTime | Real time stamp.
  [in] | _simTime | Sim time stamp.
  [in] | _iterations | Simulation iterations.

## Load() [2/2]

virtual void Load | ( | const sdf::ElementPtr | _elem | ) |

virtual

Load state from SDF element.

Load ModelState information from stored data in and SDF::Element

Parameters

  [in] | _elem | Pointer to the SDF::Element containing state info.

Reimplemented from State.

## NestedModelState()

ModelState NestedModelState | ( | const std::string & | _modelName | ) | const

Get a model state by model name.

Searches through all nested model states. Returns the model state with the matching name, if any.

Parameters

  [in] | _modelName | Name of the model state

Returns
  State of the Model.

Exceptions

  common::Exception | When _modelName is invalid.

## NestedModelStateCount()

unsigned int NestedModelStateCount | ( |  | ) | const

Get the number of model states.

This returns the number of nested model states recorded.

Returns
  Number of nested ModelState recorded.

## NestedModelStates()

const ModelState_M& NestedModelStates | ( |  | ) | const

Get the nested model states.

Returns
  A map of model names to model states.

## operator+()

ModelState operator+ | ( | const ModelState & | _state | ) | const

Addition operator.

Parameters

  [in] | _pt | A state to substract.

Returns
  The resulting state.

## operator-() [1/2]

ModelState operator- | ( | const ModelState & | _state | ) | const

Subtraction operator.

Parameters

  [in] | _pt | A state to substract.

Returns
  The resulting state.

## operator-() [2/2]

State operator- | ( | const State & | _state | ) | const

inherited

Subtraction operator.

Parameters

  [in] | _pt | A state to substract.

Returns
  The resulting state.

## operator=()

ModelState& operator= | ( | const ModelState & | _state | ) |

Assignment operator.

Parameters

  [in] | _state | State value

Returns
  this

## Pose()

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

Get the stored model pose.

Returns
  The ignition::math::Pose3d of the Model.

## Scale()

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

Get the stored model scale.

Returns
  The scale of the Model.

## SetIterations()

virtual void SetIterations | ( | const uint64_t | _iterations | ) |

virtual

Set the simulation iterations when this state was generated.

Parameters

  [in] | _iterations | Simulation iterations when the data was recorded.

Reimplemented from State.

## SetName()

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

inherited

Set the name associated with this State.

Parameters

  [in] | _name | Name associated with this state information. Typically the name of an Entity.

## SetRealTime()

virtual void SetRealTime | ( | const common::Time & | _time | ) |

virtual

Set the real time when this state was generated.

Parameters

  [in] | _time | Clock time since simulation was stated.

Reimplemented from State.

## SetSimTime()

virtual void SetSimTime | ( | const common::Time & | _time | ) |

virtual

Set the sim time when this state was generated.

Parameters

  [in] | _time | Simulation time when the data was recorded.

Reimplemented from State.

## SetWallTime()

virtual void SetWallTime | ( | const common::Time & | _time | ) |

virtual

Set the wall time when this state was generated.

Parameters

  [in] | _time | The absolute clock time when the State data was recorded.

Reimplemented from State.

## Friends And Related Function Documentation

## operator<<

std::ostream& operator<< | ( | std::ostream & | _out,
|  | const gazebo::physics::ModelState & | _state
| ) |  |

friend

Stream insertion operator.

Parameters

  [in] | _out | output stream.
  [in] | _state | Model state to output.

Returns
  The stream.

## Member Data Documentation

## iterations

uint64_t iterations = 0

protected inherited

The number of simulation iterations when this state was generated.

## name

std::string name

protected inherited

Name associated with this State.

## realTime

common::Time realTime

protected inherited

## simTime

common::Time simTime

protected inherited

## wallTime

common::Time wallTime

protected inherited

Times for the state data.

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

- ModelState.hh