#include <worldinterfaceserverimpl.h>

Inheritance diagram for WorldInterfaceServerImpl:

Collaboration diagram for WorldInterfaceServerImpl:

Public Member Functions
	WorldInterfaceServerImpl ()

	~WorldInterfaceServerImpl ()

virtual std::string	makeSphere (const double radius, const GazeboYarpPlugins::Pose &pose, const GazeboYarpPlugins::Color &color, const std::string &frame_name="", const std::string &object_name="", const bool gravity_enable=0, const bool collision_enable=1)
	Make a shpere.

virtual std::string	makeBox (const double width, const double height, const double thickness, const GazeboYarpPlugins::Pose &pose, const GazeboYarpPlugins::Color &color, const std::string &frame_name="", const std::string &object_name="", const bool gravity_enable=0, const bool collision_enable=1)
	Make a shpere.

virtual std::string	makeCylinder (const double radius, const double length, const GazeboYarpPlugins::Pose &pose, const GazeboYarpPlugins::Color &color, const std::string &frame_name="", const std::string &object_name="", const bool gravity_enable=0, const bool collision_enable=1)
	Make a cylinder.

virtual bool	setPose (const std::string &id, const GazeboYarpPlugins::Pose &pose, const std::string &frame_name="")
	Set new object pose.

virtual GazeboYarpPlugins::Pose	getPose (const std::string &id, const std::string &frame_name="")
	Get 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 bool	loadModelFromFile (const std::string &filename)
	Load a model from file.

virtual std::string	loadModelFromFileWithPose (const std::string &filename, const GazeboYarpPlugins::Pose &pose, const std::string &object_name="", const double timeout=2.0)
	Load a model from file.

virtual std::string	makeFrame (const double size, const GazeboYarpPlugins::Pose &pose, const GazeboYarpPlugins::Color &color, const std::string &frame_name="", const std::string &object_name="", const bool gravity_enable=0, const bool collision_enable=1)
	Make a reference frame.

virtual bool	changeColor (const std::string &id, const GazeboYarpPlugins::Color &color)
	Change the color of an object.

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)
	Get 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.

void	attachWorldProxy (WorldProxy *p)

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

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

bool	read (yarp::os::ConnectionReader &connection) override

bool	read (yarp::os::ConnectionReader &connection) override

Constructor & Destructor Documentation

◆ WorldInterfaceServerImpl()

WorldInterfaceServerImpl::WorldInterfaceServerImpl ( )

◆ ~WorldInterfaceServerImpl()

WorldInterfaceServerImpl::~WorldInterfaceServerImpl ( )

Member Function Documentation

◆ makeSphere()

std::string WorldInterfaceServerImpl::makeSphere	(	const double	radius,
		const GazeboYarpPlugins::Pose &	pose,
		const GazeboYarpPlugins::Color &	color,
		const std::string &	frame_name = "",
		const std::string &	object_name = "",
		const bool	gravity_enable = 0,
		const bool	collision_enable = 1 )

virtual

Make a shpere.

Parameters

radius	radius of the sphere [m]
pose	pose of the sphere [m]
color	color of the sphere

Returns: returns a string that contains the name of the object in the world or empty string on error

Reimplemented from GazeboYarpPlugins::WorldInterfaceServer.

◆ makeBox()

std::string WorldInterfaceServerImpl::makeBox	(	const double	width,
		const double	height,
		const double	thickness,
		const GazeboYarpPlugins::Pose &	pose,
		const GazeboYarpPlugins::Color &	color,
		const std::string &	frame_name = "",
		const std::string &	object_name = "",
		const bool	gravity_enable = 0,
		const bool	collision_enable = 1 )

virtual

Make a shpere.

Parameters

width	box width [m]
height	box height[m]
thickness	box thickness [m]
pose	pose of the box [m]
color	color of the box

Returns: returns a string that contains the name of the object in the world or empty string on error

Reimplemented from GazeboYarpPlugins::WorldInterfaceServer.

◆ makeCylinder()

std::string WorldInterfaceServerImpl::makeCylinder	(	const double	radius,
		const double	length,
		const GazeboYarpPlugins::Pose &	pose,
		const GazeboYarpPlugins::Color &	color,
		const std::string &	frame_name = "",
		const std::string &	object_name = "",
		const bool	gravity_enable = 0,
		const bool	collision_enable = 1 )

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

Returns: returns a string that contains the name of the object in the world or empty string on error

Reimplemented from GazeboYarpPlugins::WorldInterfaceServer.

◆ setPose()

bool WorldInterfaceServerImpl::setPose	(	const std::string &	id,
		const GazeboYarpPlugins::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 from GazeboYarpPlugins::WorldInterfaceServer.

◆ getPose()

GazeboYarpPlugins::Pose WorldInterfaceServerImpl::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. MODEL1::link). Otherwise, world it will be used.

Returns: returns value of the pose in the world reference frame

Reimplemented from GazeboYarpPlugins::WorldInterfaceServer.

◆ enableGravity()

bool WorldInterfaceServerImpl::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 from GazeboYarpPlugins::WorldInterfaceServer.

◆ enableCollision()

bool WorldInterfaceServerImpl::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 from GazeboYarpPlugins::WorldInterfaceServer.

◆ loadModelFromFile()

bool WorldInterfaceServerImpl::loadModelFromFile ( const std::string & filename )

virtual

Load a model from file.

Parameters

filename string that specifies the filename of the model

Returns: returns true/false on success failure.

Reimplemented from GazeboYarpPlugins::WorldInterfaceServer.

◆ loadModelFromFileWithPose()

std::string WorldInterfaceServerImpl::loadModelFromFileWithPose	(	const std::string &	filename,
		const GazeboYarpPlugins::Pose &	pose,
		const std::string &	object_name = "",
		const double	timeout = 2.0 )

virtual

Load a model from file.

Parameters

filename	string that specifies the filename of the model
pose	pose to place the model at [m]
object_name	(optional) assigns a name to the object.
timeout	(optional) time for the creation of the model [s]

Returns: returns a string that contains the name of the object in the world or empty string on error

Reimplemented from GazeboYarpPlugins::WorldInterfaceServer.

◆ makeFrame()

std::string WorldInterfaceServerImpl::makeFrame	(	const double	size,
		const GazeboYarpPlugins::Pose &	pose,
		const GazeboYarpPlugins::Color &	color,
		const std::string &	frame_name = "",
		const std::string &	object_name = "",
		const bool	gravity_enable = 0,
		const bool	collision_enable = 1 )

virtual

Make a reference frame.

Parameters

size	size of the frame [m]
pose	pose of the frame [m]
color	color of the frame

Returns: returns a string that contains the name of the object in the world or empty string on error

Reimplemented from GazeboYarpPlugins::WorldInterfaceServer.

◆ changeColor()

bool WorldInterfaceServerImpl::changeColor	(	const std::string &	id,
		const GazeboYarpPlugins::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 from GazeboYarpPlugins::WorldInterfaceServer.

◆ deleteObject()

bool WorldInterfaceServerImpl::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 from GazeboYarpPlugins::WorldInterfaceServer.

◆ deleteAll()

bool WorldInterfaceServerImpl::deleteAll ( )

virtual

Delete all objects in the world.

Reimplemented from GazeboYarpPlugins::WorldInterfaceServer.

◆ getList()

std::vector< std::string > WorldInterfaceServerImpl::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 from GazeboYarpPlugins::WorldInterfaceServer.

◆ attach()

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

virtual

Get 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 from GazeboYarpPlugins::WorldInterfaceServer.

◆ detach()

bool WorldInterfaceServerImpl::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 from GazeboYarpPlugins::WorldInterfaceServer.

◆ rename()

bool WorldInterfaceServerImpl::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 from GazeboYarpPlugins::WorldInterfaceServer.

◆ attachWorldProxy()

void WorldInterfaceServerImpl::attachWorldProxy ( WorldProxy * p )

inline

◆ help() [1/2]

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

virtualinherited

◆ help() [2/2]

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

virtualinherited

◆ read() [1/2]

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

overrideinherited

◆ read() [2/2]

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

overrideinherited

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

Public Member Functions

Constructor & Destructor Documentation

◆ WorldInterfaceServerImpl()

◆ ~WorldInterfaceServerImpl()

Member Function Documentation

◆ makeSphere()

◆ makeBox()

◆ makeCylinder()

◆ setPose()

◆ getPose()

◆ enableGravity()

◆ enableCollision()

◆ loadModelFromFile()

◆ loadModelFromFileWithPose()

◆ makeFrame()

◆ changeColor()

◆ deleteObject()

◆ deleteAll()

◆ getList()

◆ attach()

◆ detach()

◆ rename()

◆ attachWorldProxy()

◆ help() [1/2]

◆ help() [2/2]

◆ read() [1/2]

◆ read() [2/2]