GazeboYarpPlugins::WorldInterfaceServer Class Reference

#include <WorldInterfaceServer.h>

Inheritance diagram for GazeboYarpPlugins::WorldInterfaceServer:

Collaboration diagram for GazeboYarpPlugins::WorldInterfaceServer:

Public Member Functions
	WorldInterfaceServer ()
virtual std::string	makeSphere (const double radius, const Pose &pose, const Color &color, const std::string &frame_name="", const std::string &object_name="", const bool gravity_enable=false, const bool collision_enable=true)
	Make a sphere.
virtual std::string	makeBox (const double width, const double height, const double thickness, const Pose &pose, const Color &color, const std::string &frame_name="", const std::string &object_name="", const bool gravity_enable=false, const bool collision_enable=true)
	Make a box.
virtual std::string	makeCylinder (const double radius, const double length, const Pose &pose, const Color &color, const std::string &frame_name="", const std::string &object_name="", const bool gravity_enable=false, const bool collision_enable=true)
	Make a cylinder.
virtual std::string	makeFrame (const double size, const Pose &pose, const Color &color, const std::string &frame_name="", const std::string &object_name="", const bool gravity_enable=false, const bool collision_enable=true)
	Make a reference frame.
virtual bool	changeColor (const std::string &id, const Color &color)
	Change the color of an object.
virtual bool	setPose (const std::string &id, const Pose &pose, const std::string &frame_name="")
	Set new object pose.
virtual bool	enableGravity (const std::string &id, const bool enable)
	Enable/disables gravity for an object.
virtual bool	enableCollision (const std::string &id, const bool enable)
	Enable/disables collision detection for an object.
virtual Pose	getPose (const std::string &id, const std::string &frame_name="")
	Get object pose.
virtual bool	loadModelFromFile (const std::string &filename)
	Load a model from file.
virtual std::string	loadModelFromFileWithPose (const std::string &filename, const Pose &pose, const std::string &object_name="", const double timeout=2.000000)
	Load a model from file.
virtual bool	deleteObject (const std::string &id)
	Delete an object.
virtual bool	deleteAll ()
	Delete all objects in the world.
virtual std::vector< std::string >	getList ()
	List id of all objects that have been added to the world.
virtual bool	attach (const std::string &id, const std::string &link_name)
	Attach an object to a link of the robot.
virtual bool	detach (const std::string &id)
	Detach a previously attached object.
virtual bool	rename (const std::string &old_name, const std::string &new_name)
	Change the names of an object.
virtual std::vector< std::string >	help (const std::string &functionName="--all")
bool	read (yarp::os::ConnectionReader &connection) override
	WorldInterfaceServer ()
virtual std::string	makeSphere (const double radius, const Pose &pose, const Color &color, const std::string &frame_name="", const std::string &object_name="", const bool gravity_enable=false, const bool collision_enable=true)
	Make a sphere.
virtual std::string	makeBox (const double width, const double height, const double thickness, const Pose &pose, const Color &color, const std::string &frame_name="", const std::string &object_name="", const bool gravity_enable=false, const bool collision_enable=true)
	Make a box.
virtual std::string	makeCylinder (const double radius, const double length, const Pose &pose, const Color &color, const std::string &frame_name="", const std::string &object_name="", const bool gravity_enable=false, const bool collision_enable=true)
	Make a cylinder.
virtual std::string	makeFrame (const double size, const Pose &pose, const Color &color, const std::string &frame_name="", const std::string &object_name="", const bool gravity_enable=false, const bool collision_enable=true)
	Make a reference frame.
virtual bool	changeColor (const std::string &id, const Color &color)
	Change the color of an object.
virtual bool	setPose (const std::string &id, const Pose &pose, const std::string &frame_name="")
	Set new object pose.
virtual bool	enableGravity (const std::string &id, const bool enable)
	Enable/disables gravity for an object.
virtual bool	enableCollision (const std::string &id, const bool enable)
	Enable/disables collision detection for an object.
virtual Pose	getPose (const std::string &id, const std::string &frame_name="")
	Get object pose.
virtual bool	loadModelFromFile (const std::string &filename)
	Load a model from file.
virtual std::string	loadModelFromFileWithPose (const std::string &filename, const Pose &pose, const std::string &object_name="", const double timeout=2.000000)
	Load a model from file.
virtual bool	deleteObject (const std::string &id)
	Delete an object.
virtual bool	deleteAll ()
	Delete all objects in the world.
virtual std::vector< std::string >	getList ()
	List id of all objects that have been added to the world.
virtual bool	attach (const std::string &id, const std::string &link_name)
	Attach an object to a link of the robot.
virtual bool	detach (const std::string &id)
	Detach a previously attached object.
virtual bool	rename (const std::string &old_name, const std::string &new_name)
	Change the names of an object.
virtual std::vector< std::string >	help (const std::string &functionName="--all")
bool	read (yarp::os::ConnectionReader &connection) override

Constructor & Destructor Documentation

WorldInterfaceServer() [1/2]

GazeboYarpPlugins::WorldInterfaceServer::WorldInterfaceServer

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WorldInterfaceServer() [2/2]

GazeboYarpPlugins::WorldInterfaceServer::WorldInterfaceServer

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)

Member Function Documentation

makeSphere() [1/2]

std::string GazeboYarpPlugins::WorldInterfaceServer::makeSphere ( const double radius, const Pose & pose, const Color & color, const std::string & frame_name = "", const std::string & object_name = "", const bool gravity_enable = false, const bool collision_enable = true )

virtual

Make a sphere.

Parameters

radius	radius of the sphere [m]
pose	pose of the sphere [m]
color	color of the sphere
frame_name	(optional) is specified, the pose will be relative to the specified fully scoped frame (e.g. MODEL_ID::FRAME_ID). Otherwise, world it will be used.
object_name	(optional) assigns a name to the object.
gravity_enable	(optional) enables gravity (default false)
collision_enable	(optional) enables collision (default true)

Returns

returns a string that contains the name of the object in the world

Reimplemented in WorldProxy, and WorldInterfaceServerImpl.

makeBox() [1/2]

std::string GazeboYarpPlugins::WorldInterfaceServer::makeBox ( const double width, const double height, const double thickness, const Pose & pose, const Color & color, const std::string & frame_name = "", const std::string & object_name = "", const bool gravity_enable = false, const bool collision_enable = true )

virtual

Make a box.

Parameters

width	box width [m]
height	box height[m]
thickness	box thickness [m]
pose	pose of the box [m]
color	color of the box
frame_name	(optional) is specified, the pose will be relative to the specified fully scoped frame (e.g. MODEL_ID::FRAME_ID). Otherwise, world it will be used.
object_name	(optional) assigns a name to the object.
gravity_enable	(optional) enables gravity (default false)
collision_enable	(optional) enables collision (default true)

Returns

returns a string that contains the name of the object in the world

Reimplemented in WorldProxy, and WorldInterfaceServerImpl.

makeCylinder() [1/2]

std::string GazeboYarpPlugins::WorldInterfaceServer::makeCylinder ( const double radius, const double length, const Pose & pose, const Color & color, const std::string & frame_name = "", const std::string & object_name = "", const bool gravity_enable = false, const bool collision_enable = true )

virtual

Make a cylinder.

Parameters

radius	radius of the cylinder [m]
length	length of the cylinder [m]
pose	pose of the cylinder [m]
color	color of the cylinder
frame_name	(optional) is specified, the pose will be relative to the specified fully scoped frame (e.g. MODEL_ID::FRAME_ID). Otherwise, world it will be used.
object_name	(optional) assigns a name to the object.
gravity_enable	(optional) enables gravity (default false)
collision_enable	(optional) enables collision (default true)

Returns

returns a string that contains the name of the object in the world

Reimplemented in WorldProxy, and WorldInterfaceServerImpl.

makeFrame() [1/2]

std::string GazeboYarpPlugins::WorldInterfaceServer::makeFrame ( const double size, const Pose & pose, const Color & color, const std::string & frame_name = "", const std::string & object_name = "", const bool gravity_enable = false, const bool collision_enable = true )

virtual

Make a reference frame.

Parameters

size	size of the frame [m]
pose	pose of the frame [m]
color	color of the frame
frame_name	(optional) is specified, the pose will be relative to the specified fully scoped frame (e.g. MODEL_ID::FRAME_ID). Otherwise, world it will be used.
object_name	(optional) assigns a name to the object.
gravity_enable	(optional) enables gravity (default false)
collision_enable	(optional) enables collision (default true)

Returns

returns a string that contains the name of the object in the world

Reimplemented in WorldProxy, and WorldInterfaceServerImpl.

changeColor() [1/2]

bool GazeboYarpPlugins::WorldInterfaceServer::changeColor ( const std::string & id, const Color & color )

virtual

Change the color of an object.

Parameters

id	object id
color	color of the frame

Returns

returns true or false on success failure

Reimplemented in WorldInterfaceServerImpl, and WorldProxy.

setPose() [1/2]

bool GazeboYarpPlugins::WorldInterfaceServer::setPose ( const std::string & id, const Pose & pose, const std::string & frame_name = "" )

virtual

Set new object pose.

Parameters

id	object id
pose	new pose
frame_name	(optional) is specified, the pose will be relative to the specified fully scoped frame (e.g. MODEL_ID::FRAME_ID). Otherwise, world it will be used.

Returns

returns true or false on success failure

Reimplemented in WorldProxy, and WorldInterfaceServerImpl.

enableGravity() [1/2]

bool GazeboYarpPlugins::WorldInterfaceServer::enableGravity ( const std::string & id, const bool enable )

virtual

Enable/disables gravity for an object.

Parameters

id	object id
enable	1 to enable gravity, 0 otherwise

Returns

returns true or false on success failure

Reimplemented in WorldInterfaceServerImpl, and WorldProxy.

enableCollision() [1/2]

bool GazeboYarpPlugins::WorldInterfaceServer::enableCollision ( const std::string & id, const bool enable )

virtual

Enable/disables collision detection for an object.

Parameters

id	object id
enable	1 to enable collision detection, 0 otherwise

Returns

returns true or false on success failure

Reimplemented in WorldInterfaceServerImpl, and WorldProxy.

getPose() [1/2]

Pose GazeboYarpPlugins::WorldInterfaceServer::getPose ( const std::string & id, const std::string & frame_name = "" )

virtual

Get object pose.

Parameters

id	string that identifies object in gazebo (returned after creation)
frame_name	(optional) is specified, the pose will be relative to the specified fully scoped frame (e.g. MODEL_ID::FRAME_ID). Otherwise, world it will be used.

Returns

returns value of the pose in the world reference frame

Reimplemented in WorldProxy, and WorldInterfaceServerImpl.

loadModelFromFile() [1/2]

bool GazeboYarpPlugins::WorldInterfaceServer::loadModelFromFile ( const std::string & filename )

virtual

Load a model from file.

Parameters

filename

string that specifies the name of the model

Returns

returns true or false on success failure

Reimplemented in WorldInterfaceServerImpl, and WorldProxy.

loadModelFromFileWithPose() [1/2]

std::string GazeboYarpPlugins::WorldInterfaceServer::loadModelFromFileWithPose ( const std::string & filename, const Pose & pose, const std::string & object_name = "", const double timeout = 2.000000 )

virtual

Load a model from file.

Parameters

filename	string that specifies the name of the model
pose	pose to place the model at: position (x,y,z), orientation (roll, pitch, yaw)]
timeout	(optional) time for the creation of the model [s]

Returns

returns a string that contains the name of the model in the world

Reimplemented in WorldProxy, and WorldInterfaceServerImpl.

deleteObject() [1/2]

bool GazeboYarpPlugins::WorldInterfaceServer::deleteObject ( const std::string & id )

virtual

Delete an object.

Parameters

id	string that identifies object in gazebo (returned after creation)

Returns

returns true/false on success failure.

Reimplemented in WorldInterfaceServerImpl, and WorldProxy.

deleteAll() [1/2]

bool GazeboYarpPlugins::WorldInterfaceServer::deleteAll ( )

virtual

Delete all objects in the world.

Reimplemented in WorldInterfaceServerImpl, and WorldProxy.

getList() [1/2]

std::vector< std::string > GazeboYarpPlugins::WorldInterfaceServer::getList ( )

virtual

List id of all objects that have been added to the world.

Returns

return a list of string containing the id of the objects

Reimplemented in WorldInterfaceServerImpl, and WorldProxy.

attach() [1/2]

bool GazeboYarpPlugins::WorldInterfaceServer::attach ( const std::string & id, const std::string & link_name )

virtual

Attach an object to a link of the robot.

Parameters

id	string that identifies object in gazebo (returned after creation)
link_name	name of a link of the robot

Returns

true if success, false otherwise

Reimplemented in WorldInterfaceServerImpl, and WorldProxy.

detach() [1/2]

bool GazeboYarpPlugins::WorldInterfaceServer::detach ( const std::string & id )

virtual

Detach a previously attached object.

Parameters

id	string that identifies object in gazebo (returned after creation)

Returns

true if success, false otherwise

Reimplemented in WorldInterfaceServerImpl, and WorldProxy.

rename() [1/2]

bool GazeboYarpPlugins::WorldInterfaceServer::rename ( const std::string & old_name, const std::string & new_name )

virtual

Change the names of an object.

Parameters

old_name	string that identifies object in gazebo
new_name	string that will be used as new name

Returns

true if success, false otherwise

Reimplemented in WorldInterfaceServerImpl, and WorldProxy.

help() [1/2]

std::vector< std::string > GazeboYarpPlugins::WorldInterfaceServer::help ( const std::string & functionName = "--all" )

virtual

read() [1/2]

bool GazeboYarpPlugins::WorldInterfaceServer::read ( yarp::os::ConnectionReader & connection )

override

makeSphere() [2/2]

virtual std::string GazeboYarpPlugins::WorldInterfaceServer::makeSphere ( const double radius, const Pose & pose, const Color & color, const std::string & frame_name = "", const std::string & object_name = "", const bool gravity_enable = false, const bool collision_enable = true )

virtual

Make a sphere.

Parameters

radius	radius of the sphere [m]
pose	pose of the sphere [m]
color	color of the sphere
frame_name	(optional) is specified, the pose will be relative to the specified fully scoped frame (e.g. MODEL_ID::FRAME_ID). Otherwise, world it will be used.
object_name	(optional) assigns a name to the object.
gravity_enable	(optional) enables gravity (default false)
collision_enable	(optional) enables collision (default true)

Returns

returns a string that contains the name of the object in the world

Reimplemented in WorldProxy, and WorldInterfaceServerImpl.

makeBox() [2/2]

virtual std::string GazeboYarpPlugins::WorldInterfaceServer::makeBox ( const double width, const double height, const double thickness, const Pose & pose, const Color & color, const std::string & frame_name = "", const std::string & object_name = "", const bool gravity_enable = false, const bool collision_enable = true )

virtual

Make a box.

Parameters

width	box width [m]
height	box height[m]
thickness	box thickness [m]
pose	pose of the box [m]
color	color of the box
frame_name	(optional) is specified, the pose will be relative to the specified fully scoped frame (e.g. MODEL_ID::FRAME_ID). Otherwise, world it will be used.
object_name	(optional) assigns a name to the object.
gravity_enable	(optional) enables gravity (default false)
collision_enable	(optional) enables collision (default true)

Returns

returns a string that contains the name of the object in the world

Reimplemented in WorldProxy, and WorldInterfaceServerImpl.

makeCylinder() [2/2]

virtual std::string GazeboYarpPlugins::WorldInterfaceServer::makeCylinder ( const double radius, const double length, const Pose & pose, const Color & color, const std::string & frame_name = "", const std::string & object_name = "", const bool gravity_enable = false, const bool collision_enable = true )

virtual

Make a cylinder.

Parameters

radius	radius of the cylinder [m]
length	length of the cylinder [m]
pose	pose of the cylinder [m]
color	color of the cylinder
frame_name	(optional) is specified, the pose will be relative to the specified fully scoped frame (e.g. MODEL_ID::FRAME_ID). Otherwise, world it will be used.
object_name	(optional) assigns a name to the object.
gravity_enable	(optional) enables gravity (default false)
collision_enable	(optional) enables collision (default true)

Returns

returns a string that contains the name of the object in the world

Reimplemented in WorldProxy, and WorldInterfaceServerImpl.

makeFrame() [2/2]

virtual std::string GazeboYarpPlugins::WorldInterfaceServer::makeFrame ( const double size, const Pose & pose, const Color & color, const std::string & frame_name = "", const std::string & object_name = "", const bool gravity_enable = false, const bool collision_enable = true )

virtual

Make a reference frame.

Parameters

size	size of the frame [m]
pose	pose of the frame [m]
color	color of the frame
frame_name	(optional) is specified, the pose will be relative to the specified fully scoped frame (e.g. MODEL_ID::FRAME_ID). Otherwise, world it will be used.
object_name	(optional) assigns a name to the object.
gravity_enable	(optional) enables gravity (default false)
collision_enable	(optional) enables collision (default true)

Returns

returns a string that contains the name of the object in the world

Reimplemented in WorldProxy, and WorldInterfaceServerImpl.

changeColor() [2/2]

virtual bool GazeboYarpPlugins::WorldInterfaceServer::changeColor ( const std::string & id, const Color & color )

virtual

Change the color of an object.

Parameters

id	object id
color	color of the frame

Returns

returns true or false on success failure

Reimplemented in WorldInterfaceServerImpl, and WorldProxy.

setPose() [2/2]

virtual bool GazeboYarpPlugins::WorldInterfaceServer::setPose ( const std::string & id, const Pose & pose, const std::string & frame_name = "" )

virtual

Set new object pose.

Parameters

id	object id
pose	new pose
frame_name	(optional) is specified, the pose will be relative to the specified fully scoped frame (e.g. MODEL_ID::FRAME_ID). Otherwise, world it will be used.

Returns

returns true or false on success failure

Reimplemented in WorldProxy, and WorldInterfaceServerImpl.

enableGravity() [2/2]

virtual bool GazeboYarpPlugins::WorldInterfaceServer::enableGravity ( const std::string & id, const bool enable )

virtual

Enable/disables gravity for an object.

Parameters

id	object id
enable	1 to enable gravity, 0 otherwise

Returns

returns true or false on success failure

Reimplemented in WorldInterfaceServerImpl, and WorldProxy.

enableCollision() [2/2]

virtual bool GazeboYarpPlugins::WorldInterfaceServer::enableCollision ( const std::string & id, const bool enable )

virtual

Enable/disables collision detection for an object.

Parameters

id	object id
enable	1 to enable collision detection, 0 otherwise

Returns

returns true or false on success failure

Reimplemented in WorldInterfaceServerImpl, and WorldProxy.

getPose() [2/2]

virtual Pose GazeboYarpPlugins::WorldInterfaceServer::getPose ( const std::string & id, const std::string & frame_name = "" )

virtual

Get object pose.

Parameters

id	string that identifies object in gazebo (returned after creation)
frame_name	(optional) is specified, the pose will be relative to the specified fully scoped frame (e.g. MODEL_ID::FRAME_ID). Otherwise, world it will be used.

Returns

returns value of the pose in the world reference frame

Reimplemented in WorldProxy, and WorldInterfaceServerImpl.

loadModelFromFile() [2/2]

virtual bool GazeboYarpPlugins::WorldInterfaceServer::loadModelFromFile ( const std::string & filename )

virtual

Load a model from file.

Parameters

filename

string that specifies the name of the model

Returns

returns true or false on success failure

Reimplemented in WorldInterfaceServerImpl, and WorldProxy.

loadModelFromFileWithPose() [2/2]

virtual std::string GazeboYarpPlugins::WorldInterfaceServer::loadModelFromFileWithPose ( const std::string & filename, const Pose & pose, const std::string & object_name = "", const double timeout = 2.000000 )

virtual

Load a model from file.

Parameters

filename	string that specifies the name of the model
pose	pose to place the model at: position (x,y,z), orientation (roll, pitch, yaw)]
timeout	(optional) time for the creation of the model [s]

Returns

returns a string that contains the name of the model in the world

Reimplemented in WorldProxy, and WorldInterfaceServerImpl.

deleteObject() [2/2]

virtual bool GazeboYarpPlugins::WorldInterfaceServer::deleteObject ( const std::string & id )

virtual

Delete an object.

Parameters

id	string that identifies object in gazebo (returned after creation)

Returns

returns true/false on success failure.

Reimplemented in WorldInterfaceServerImpl, and WorldProxy.

deleteAll() [2/2]

virtual bool GazeboYarpPlugins::WorldInterfaceServer::deleteAll ( )

virtual

Delete all objects in the world.

Reimplemented in WorldInterfaceServerImpl, and WorldProxy.

getList() [2/2]

virtual std::vector< std::string > GazeboYarpPlugins::WorldInterfaceServer::getList ( )

virtual

List id of all objects that have been added to the world.

Returns

return a list of string containing the id of the objects

Reimplemented in WorldInterfaceServerImpl, and WorldProxy.

attach() [2/2]

virtual bool GazeboYarpPlugins::WorldInterfaceServer::attach ( const std::string & id, const std::string & link_name )

virtual

Attach an object to a link of the robot.

Parameters

id	string that identifies object in gazebo (returned after creation)
link_name	name of a link of the robot

Returns

true if success, false otherwise

Reimplemented in WorldInterfaceServerImpl, and WorldProxy.

detach() [2/2]

virtual bool GazeboYarpPlugins::WorldInterfaceServer::detach ( const std::string & id )

virtual

Detach a previously attached object.

Parameters

id	string that identifies object in gazebo (returned after creation)

Returns

true if success, false otherwise

Reimplemented in WorldInterfaceServerImpl, and WorldProxy.

rename() [2/2]

virtual bool GazeboYarpPlugins::WorldInterfaceServer::rename ( const std::string & old_name, const std::string & new_name )

virtual

Change the names of an object.

Parameters

old_name	string that identifies object in gazebo
new_name	string that will be used as new name

Returns

true if success, false otherwise

Reimplemented in WorldInterfaceServerImpl, and WorldProxy.

help() [2/2]

virtual std::vector< std::string > GazeboYarpPlugins::WorldInterfaceServer::help ( const std::string & functionName = "--all" )

virtual

read() [2/2]

bool GazeboYarpPlugins::WorldInterfaceServer::read ( yarp::os::ConnectionReader & connection )

override

---

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

• autogenerated/include/GazeboYarpPlugins/WorldInterfaceServer.h
• CMakeFiles/yarp_idl_to_dir/worldinterface_rpc/GazeboYarpPlugins/WorldInterfaceServer.h
• autogenerated/src/WorldInterfaceServer.cpp
• CMakeFiles/yarp_idl_to_dir/worldinterface_rpc/GazeboYarpPlugins/WorldInterfaceServer.cpp