Classes
class	ClockServer

class	ClockServer_continueSimulation_helper

class	ClockServer_getSimulationTime_helper

class	ClockServer_getStepSize_helper

class	ClockServer_pauseSimulation_helper

class	ClockServer_resetSimulation_helper

class	ClockServer_resetSimulationState_helper

class	ClockServer_resetSimulationTime_helper

class	ClockServer_stepSimulation_helper

class	ClockServer_stepSimulationAndWait_helper

class	ClockServerImpl

class	Color

class	Handler
	Singleton object class. More...

class	LinkAttacherServer

class	LinkAttacherServer_attachUnscoped_helper

class	LinkAttacherServer_detachUnscoped_helper

class	LinkAttacherServer_enableGravity_helper

class	Pose

class	WorldInterfaceServer

class	WorldInterfaceServer_attach_helper

class	WorldInterfaceServer_changeColor_helper

class	WorldInterfaceServer_deleteAll_helper

class	WorldInterfaceServer_deleteObject_helper

class	WorldInterfaceServer_detach_helper

class	WorldInterfaceServer_enableCollision_helper

class	WorldInterfaceServer_enableGravity_helper

class	WorldInterfaceServer_getList_helper

class	WorldInterfaceServer_getPose_helper

class	WorldInterfaceServer_loadModelFromFile_helper

class	WorldInterfaceServer_loadModelFromFileWithPose_helper

class	WorldInterfaceServer_makeBox_helper

class	WorldInterfaceServer_makeCylinder_helper

class	WorldInterfaceServer_makeFrame_helper

class	WorldInterfaceServer_makeSphere_helper

class	WorldInterfaceServer_rename_helper

class	WorldInterfaceServer_setPose_helper

Functions
double	convertDegreesToRadians (double degrees)
	convert from degrees to radians

double	convertRadiansToDegrees (double radians)
	convert from radians to degrees

bool	hasEnding (std::string const &fullString, std::string const &ending)
	check if a string has a certaing ending

std::string	lastPartOfStringAfterSeparator (std::string const &fullString, std::string const &separator)
	Get last part of string after separator.

template<typename T >
T	readElementFromValue (yarp::os::Value &val)

template<>
double	readElementFromValue< double > (yarp::os::Value &val)

template<>
std::string	readElementFromValue< std::string > (yarp::os::Value &val)

template<typename T >
bool	readVectorFromConfigFile (const yarp::os::Searchable &params, const std::string &listName, std::vector< T > &outputList)
	Get a vector from a parameter, using both the recommended style: nameOfList (elem1 elem2 elem3) or the deprecated (since YARP 3.10): nameOfList elem1 elem2 elem3.

template<typename T >
std::string	vectorToString (std::vector< T > &outputList)
	Convert a vector to a string for printing.

std::vector< std::string >	splitString (const std::string &s, const std::string &delim)
	Split a string in a vector of string given a (single char) delimiter.

bool	loadConfigModelPlugin (gazebo::physics::ModelPtr _parent, sdf::ElementPtr _sdf, yarp::os::Property &plugin_parameters)
	Load the configuration for a given model plugin, and save the configuration in the plugin_parameters output object.

bool	addGazeboEnviromentalVariablesModel (gazebo::physics::ModelPtr _parent, sdf::ElementPtr _sdf, yarp::os::Property &plugin_parameters)
	Add some Gazebo specific "enviromental variables" that it is possible to expand in .ini configuration file loaded using the ${variable} syntax, for writing configuration files where port names and other parameters depend on Gazebo names.

bool	loadConfigSensorPlugin (gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _sdf, yarp::os::Property &plugin_parameters)
	Load the configuration for a given sensor plugin, and save the configuration in the plugin_parameters output object.

bool	addGazeboEnviromentalVariablesSensor (gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _sdf, yarp::os::Property &plugin_parameters)
	Add some Gazebo specific "enviromental variables" that it is possible to expand in .ini configuration file loaded using the ${variable} syntax, for writing configuration files where port names and other parameters depend on Gazebo names.

bool	loadConfigModelPlugin (physics::ModelPtr _model, sdf::ElementPtr _sdf, yarp::os::Property &plugin_parameters)

bool	loadConfigSensorPlugin (sensors::SensorPtr _sensor, sdf::ElementPtr _sdf, yarp::os::Property &plugin_parameters)

bool	startsWith (const std::string &completeString, const std::string &candidatePrefix)

Variables
const double	yarpNetworkInitializationTimeout = 10.0
	< Seconds to wait for an answer when trying to connect to the yarpserver

double const	pi = 3.1415926535897932384626433

Function Documentation

◆ convertDegreesToRadians()

double GazeboYarpPlugins::convertDegreesToRadians ( double degrees )

inline

convert from degrees to radians

Parameters

degrees angle in degrees

Returns: the angle converted in radians

◆ convertRadiansToDegrees()

double GazeboYarpPlugins::convertRadiansToDegrees ( double radians )

inline

convert from radians to degrees

Parameters

radians angle in radians

Returns: the angle converted in degrees

◆ hasEnding()

bool GazeboYarpPlugins::hasEnding	(	std::string const &	fullString,
		std::string const &	ending )

inline

check if a string has a certaing ending

Parameters

fullString	the full string
ending	the candidate ending

Returns: true if fullString ends with ending, false otherwise

◆ lastPartOfStringAfterSeparator()

std::string GazeboYarpPlugins::lastPartOfStringAfterSeparator	(	std::string const &	fullString,
		std::string const &	separator )

inline

Get last part of string after separator.

Parameters

[in]	fullString	the full string
[in]	separator	separator string

Returns: lastPart the last part of the string, or the fullString if the seperator is not found

◆ readElementFromValue()

template<typename T >

T GazeboYarpPlugins::readElementFromValue ( yarp::os::Value & val )

inline

◆ readElementFromValue< double >()

template<>

double GazeboYarpPlugins::readElementFromValue< double > ( yarp::os::Value & val )

inline

◆ readElementFromValue< std::string >()

template<>

std::string GazeboYarpPlugins::readElementFromValue< std::string > ( yarp::os::Value & val )

inline

◆ readVectorFromConfigFile()

template<typename T >

bool GazeboYarpPlugins::readVectorFromConfigFile	(	const yarp::os::Searchable &	params,
		const std::string &	listName,
		std::vector< T > &	outputList )

inline

Get a vector from a parameter, using both the recommended style: nameOfList (elem1 elem2 elem3) or the deprecated (since YARP 3.10): nameOfList elem1 elem2 elem3.

Get vector from YARP configuration

Returns: true if the parsing was successful, false otherwise

◆ vectorToString()

template<typename T >

std::string GazeboYarpPlugins::vectorToString ( std::vector< T > & outputList )

inline

Convert a vector to a string for printing.

◆ splitString()

std::vector< std::string > GazeboYarpPlugins::splitString	(	const std::string &	s,
		const std::string &	delim )

Split a string in a vector of string given a (single char) delimiter.

◆ loadConfigModelPlugin() [1/2]

bool GazeboYarpPlugins::loadConfigModelPlugin	(	gazebo::physics::ModelPtr	_parent,
		sdf::ElementPtr	_sdf,
		yarp::os::Property &	plugin_parameters )

Load the configuration for a given model plugin, and save the configuration in the plugin_parameters output object.

This involves calling addGazeboEnviromentalVariablesModel and then loading the yarp configuration file specified in the sdf with the yarpConfigurationFile and yarpConfigurationString tags. In case a parameter is defined in both, the yarpConfigurationString has the priority.

◆ addGazeboEnviromentalVariablesModel()

bool GazeboYarpPlugins::addGazeboEnviromentalVariablesModel	(	gazebo::physics::ModelPtr	_parent,
		sdf::ElementPtr	_sdf,
		yarp::os::Property &	plugin_parameters )

Add some Gazebo specific "enviromental variables" that it is possible to expand in .ini configuration file loaded using the ${variable} syntax, for writing configuration files where port names and other parameters depend on Gazebo names.

This function add some model related "enviromental variables", copying their values from some ModelPtr methods :

Yarp parameter name	ModelPtr method
gazeboYarpPluginsRobotName	model->GetName()

Returns: true if all went well, false otherwise

◆ loadConfigSensorPlugin() [1/2]

bool GazeboYarpPlugins::loadConfigSensorPlugin	(	gazebo::sensors::SensorPtr	_sensor,
		sdf::ElementPtr	_sdf,
		yarp::os::Property &	plugin_parameters )

Load the configuration for a given sensor plugin, and save the configuration in the plugin_parameters output object.

This involves calling addGazeboEnviromentalVariablesSensor and then loading the yarp configuration file specified in the sdf with the yarpConfigurationFile and yarpConfigurationString tags. In case a parameter is defined in both, the yarpConfigurationString has the priority.

◆ addGazeboEnviromentalVariablesSensor()

bool GazeboYarpPlugins::addGazeboEnviromentalVariablesSensor	(	gazebo::sensors::SensorPtr	_sensor,
		sdf::ElementPtr	_sdf,
		yarp::os::Property &	plugin_parameters )

Add some Gazebo specific "enviromental variables" that it is possible to expand in .ini configuration file loaded using the ${variable} syntax, for writing configuration files where port names and other parameters depend on Gazebo names.

This function add some Sensor related "enviromental variables", copying their values from some SensorPtr methods :

Yarp parameter name	SensorPtr method
gazeboYarpPluginsSensorName	sensor->GetName()
gazeboYarpPluginsRobotName	Model name as extracted from sensor->GetScopedName()

Returns: true if all went well, false otherwise

◆ loadConfigModelPlugin() [2/2]

bool GazeboYarpPlugins::loadConfigModelPlugin	(	physics::ModelPtr	_model,
		sdf::ElementPtr	_sdf,
		yarp::os::Property &	plugin_parameters )

◆ loadConfigSensorPlugin() [2/2]

bool GazeboYarpPlugins::loadConfigSensorPlugin	(	sensors::SensorPtr	_sensor,
		sdf::ElementPtr	_sdf,
		yarp::os::Property &	plugin_parameters )

◆ startsWith()

bool GazeboYarpPlugins::startsWith	(	const std::string &	completeString,
		const std::string &	candidatePrefix )

inline

Variable Documentation

◆ yarpNetworkInitializationTimeout

const double GazeboYarpPlugins::yarpNetworkInitializationTimeout = 10.0

< Seconds to wait for an answer when trying to connect to the yarpserver

◆ pi

double const GazeboYarpPlugins::pi = 3.1415926535897932384626433

Classes

Functions

Variables

Function Documentation

◆ convertDegreesToRadians()

◆ convertRadiansToDegrees()

◆ hasEnding()

◆ lastPartOfStringAfterSeparator()

◆ readElementFromValue()

◆ readElementFromValue< double >()

◆ readElementFromValue< std::string >()

◆ readVectorFromConfigFile()

◆ vectorToString()

◆ splitString()

◆ loadConfigModelPlugin() [1/2]

◆ addGazeboEnviromentalVariablesModel()

◆ loadConfigSensorPlugin() [1/2]

◆ addGazeboEnviromentalVariablesSensor()

◆ loadConfigModelPlugin() [2/2]

◆ loadConfigSensorPlugin() [2/2]

◆ startsWith()

Variable Documentation

◆ yarpNetworkInitializationTimeout

◆ pi