#include <worldproxy.h>

Inheritance diagram for WorldProxy:

Collaboration diagram for WorldProxy:

Public Member Functions
	WorldProxy ()

	~WorldProxy ()

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, const bool collision_enable)
	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, const bool collision_enable)
	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, const bool collision_enable)
	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	deleteObject (const std::string &id)
	Delete an object.

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, const bool collision_enable)
	Make a reference frame.

virtual bool	changeColor (const std::string &id, const GazeboYarpPlugins::Color &color)
	Change the color of 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	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)
	Load a model from file.

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.

void	attachWorldPointer (gazebo::physics::WorldPtr p)

void	attachModelPointer (gazebo::physics::ModelPtr p)

void	update (const gazebo::common::UpdateInfo &)

void	waitForEngine ()
	Wait for engine to perform update step.

void	signalEngine ()
	Signal engine has performed one step.

bool	isSynchronous ()
	Check if we have need to synchronize with the engine.

void	setSynchronousMode (bool f)
	Set if requests synchronize with the engine update or not.

gazebo::physics::LinkPtr	HELPER_getLinkInModel (gazebo::physics::ModelPtr model, std::string link_name)

gazebo::physics::LinkPtr	HELPER_getLink (std::string full_scoped_link_name)

bool	HELPER_hasEnding (std::string const &fullString, std::string const &ending)

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

◆ WorldProxy()

WorldProxy::WorldProxy ( )

◆ ~WorldProxy()

WorldProxy::~WorldProxy ( )

Member Function Documentation

◆ makeSphere()

std::string WorldProxy::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,
		const bool	collision_enable )

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

Reimplemented from GazeboYarpPlugins::WorldInterfaceServer.

◆ makeBox()

string WorldProxy::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,
		const bool	collision_enable )

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

Reimplemented from GazeboYarpPlugins::WorldInterfaceServer.

◆ makeCylinder()

string WorldProxy::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,
		const bool	collision_enable )

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

Reimplemented from GazeboYarpPlugins::WorldInterfaceServer.

◆ setPose()

bool WorldProxy::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. MODEL1::link). Otherwise, world it will be used.

Returns: returns true or false on success failure

Reimplemented from GazeboYarpPlugins::WorldInterfaceServer.

◆ getPose()

GazeboYarpPlugins::Pose WorldProxy::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 expressed in the world reference frame

Reimplemented from GazeboYarpPlugins::WorldInterfaceServer.

◆ enableGravity()

bool WorldProxy::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 WorldProxy::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.

◆ deleteObject()

bool WorldProxy::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.

◆ makeFrame()

std::string WorldProxy::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,
		const bool	collision_enable )

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

Reimplemented from GazeboYarpPlugins::WorldInterfaceServer.

◆ changeColor()

bool WorldProxy::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.

◆ deleteAll()

bool WorldProxy::deleteAll ( )

virtual

Delete all objects in the world.

Reimplemented from GazeboYarpPlugins::WorldInterfaceServer.

◆ getList()

std::vector< std::string > WorldProxy::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.

◆ loadModelFromFile()

bool WorldProxy::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 WorldProxy::loadModelFromFileWithPose	(	const std::string &	filename,
		const GazeboYarpPlugins::Pose &	pose,
		const std::string &	object_name,
		const double	timeout )

virtual

Load a model from file.

Parameters

filename	string that specifies the filename of the model
pose	pose to place the model at [m]
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.

◆ attach()

bool WorldProxy::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 fully scoped link (e.g. MODEL1::link)

Returns: true if success, false otherwise

Reimplemented from GazeboYarpPlugins::WorldInterfaceServer.

◆ detach()

bool WorldProxy::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 WorldProxy::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.

◆ attachWorldPointer()

void WorldProxy::attachWorldPointer ( gazebo::physics::WorldPtr p )

inline

◆ attachModelPointer()

void WorldProxy::attachModelPointer ( gazebo::physics::ModelPtr p )

inline

◆ update()

void WorldProxy::update ( const gazebo::common::UpdateInfo & )

◆ waitForEngine()

void WorldProxy::waitForEngine ( )

Wait for engine to perform update step.

◆ signalEngine()

void WorldProxy::signalEngine ( )

Signal engine has performed one step.

Use internally within update

◆ isSynchronous()

bool WorldProxy::isSynchronous ( )

inline

Check if we have need to synchronize with the engine.

◆ setSynchronousMode()

void WorldProxy::setSynchronousMode ( bool f )

inline

Set if requests synchronize with the engine update or not.

◆ HELPER_getLinkInModel()

gazebo::physics::LinkPtr WorldProxy::HELPER_getLinkInModel	(	gazebo::physics::ModelPtr	model,
		std::string	link_name )

◆ HELPER_getLink()

gazebo::physics::LinkPtr WorldProxy::HELPER_getLink ( std::string full_scoped_link_name )

◆ HELPER_hasEnding()

bool WorldProxy::HELPER_hasEnding	(	std::string const &	fullString,
		std::string const &	ending )

◆ 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

◆ WorldProxy()

◆ ~WorldProxy()

Member Function Documentation

◆ makeSphere()

◆ makeBox()

◆ makeCylinder()

◆ setPose()

◆ getPose()

◆ enableGravity()

◆ enableCollision()

◆ deleteObject()

◆ makeFrame()

◆ changeColor()

◆ deleteAll()

◆ getList()

◆ loadModelFromFile()

◆ loadModelFromFileWithPose()

◆ attach()

◆ detach()

◆ rename()

◆ attachWorldPointer()

◆ attachModelPointer()

◆ update()

◆ waitForEngine()

◆ signalEngine()

◆ isSynchronous()

◆ setSynchronousMode()

◆ HELPER_getLinkInModel()

◆ HELPER_getLink()

◆ HELPER_hasEnding()

◆ help() [1/2]

◆ help() [2/2]

◆ read() [1/2]

◆ read() [2/2]