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17 #ifndef GAZEBO_PHYSICS_LINK_HH_
18 #define GAZEBO_PHYSICS_LINK_HH_
23 #include <ignition/math/Matrix3.hh>
63 public:
virtual void Load(sdf::ElementPtr _sdf)
override;
66 public:
virtual void Init()
override;
69 public:
void Fini()
override;
89 public:
void SetScale(
const ignition::math::Vector3d &_scale);
152 const ignition::math::Vector3d &_vel) = 0;
157 const ignition::math::Vector3d &_vel) = 0;
162 const ignition::math::Vector3d &_force) = 0;
167 const ignition::math::Vector3d &_torque) = 0;
171 public:
virtual void AddForce(
const ignition::math::Vector3d &_force) = 0;
177 const ignition::math::Vector3d &_force) = 0;
183 const ignition::math::Vector3d &_force,
184 const ignition::math::Vector3d &_pos) = 0;
195 const ignition::math::Vector3d &_force,
196 const ignition::math::Vector3d &_relPos) = 0;
205 const ignition::math::Vector3d &_force,
206 const ignition::math::Vector3d &_offset =
207 ignition::math::Vector3d::Zero) = 0;
212 const ignition::math::Vector3d &_torque) = 0;
218 const ignition::math::Vector3d &_torque) = 0;
239 const ignition::math::Vector3d &_offset)
const = 0;
249 const ignition::math::Vector3d &_offset,
250 const ignition::math::Quaterniond &_q)
const = 0;
300 public:
virtual ignition::math::Vector3d
WorldForce()
const = 0;
340 public:
CollisionPtr GetCollisionById(
unsigned int _id)
const;
360 public:
virtual ignition::math::AxisAlignedBox
BoundingBox()
const
414 std::function<
void (
bool)> _subscriber);
448 const ignition::math::Pose3d &_offset);
538 const ignition::math::Pose3d &_worldReferenceFrameSrc,
539 const ignition::math::Pose3d &_worldReferenceFrameDst,
540 const bool _preserveWorldVelocity =
false);
557 const LinkPtr &_originalParentLink,
558 Link_V &_connectedLinks,
bool _fistLink =
false);
595 public:
bool VisualId(
const std::string &_visName, uint32_t &_visualId)
603 ignition::math::Pose3d &_pose)
const;
610 const ignition::math::Pose3d &_pose);
628 private:
void PublishData();
632 private:
void LoadCollision(sdf::ElementPtr _sdf);
636 private:
void LoadLight(sdf::ElementPtr _sdf);
640 private:
void SetInertialFromCollisions();
644 private:
void OnCollision(ConstContactsPtr &_msg);
647 private:
void ParseVisuals();
653 private:
bool ContainsLink(
const Link_V &_vector,
const LinkPtr &_value);
657 private:
void UpdateVisualGeomSDF(
const ignition::math::Vector3d &_scale);
660 private:
void UpdateVisualMsg();
665 private:
void OnWrenchMsg(ConstWrenchPtr &_msg);
669 private:
void ProcessWrenchMsg(
const msgs::Wrench &_msg);
673 private:
void LoadBattery(
const sdf::ElementPtr _sdf);
688 protected:
bool initialized =
false;
691 private: std::unique_ptr<LinkPrivate> dataPtr;
std::string GetSensorName(unsigned int _index) const
Get sensor name.
virtual void SetStatic(const bool &_static)
void SetWindEnabled(const bool _enable)
Enable/disable wind for this link.
InertialPtr GetInertial() const
Get the inertia of the link.
Definition: Link.hh:317
bool VisualId(const std::string &_visName, uint32_t &_visualId) const
Get the unique ID of a visual.
std::vector< JointPtr > Joint_V
Definition: PhysicsTypes.hh:214
virtual void Update()
Update the object.
Definition: Base.hh:166
const ignition::math::Vector3d RelativeWindLinearVel() const
Returns this link's wind velocity.
Visuals_M visuals
Link visual elements.
Definition: Link.hh:682
bool VisualPose(const uint32_t _id, ignition::math::Pose3d &_pose) const
Get the pose of a visual.
Collision_V GetCollisions() const
Get all the child collisions.
Forward declarations for the common classes.
Definition: Animation.hh:27
virtual void AddLinkForce(const ignition::math::Vector3d &_force, const ignition::math::Vector3d &_offset=ignition::math::Vector3d::Zero)=0
Add a force expressed in the link frame.
unsigned int GetSensorCount() const
Get sensor count.
ignition::math::Vector3d WorldAngularAccel() const override
Get the angular acceleration of the body in the world frame, which is computed as (I^-1 * (T - w x L)...
Joint_V GetParentJoints() const
Get the parent joints.
ignition::math::Vector3d RelativeAngularVel() const override
Get the angular velocity of the body.
virtual void SetLinearVel(const ignition::math::Vector3d &_vel)=0
Set the linear velocity of the body.
virtual ~Link()
Destructor.
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:94
virtual ignition::math::Vector3d WorldLinearVel(const ignition::math::Vector3d &_offset, const ignition::math::Quaterniond &_q) const =0
Get the linear velocity of a point on the body in the world frame, using an offset expressed in an ar...
virtual void SetLinkStatic(bool _static)=0
Freeze link to ground (inertial frame).
void MoveFrame(const ignition::math::Pose3d &_worldReferenceFrameSrc, const ignition::math::Pose3d &_worldReferenceFrameDst, const bool _preserveWorldVelocity=false)
Move Link given source and target frames specified in world coordinates.
double GetWorldEnergyPotential() const
Returns this link's potential energy, based on position in world frame and gravity.
void RemoveCollision(const std::string &_name)
Remove a collision from the link.
double GetAngularDamping() const
Get the angular damping factor.
virtual void SetWindMode(const bool _mode)
Set whether wind affects this body.
virtual void AddForceAtWorldPosition(const ignition::math::Vector3d &_force, const ignition::math::Vector3d &_pos)=0
Add a force to the body using a global position.
virtual void SetGravityMode(bool _mode)=0
Set whether gravity affects this body.
virtual ignition::math::AxisAlignedBox BoundingBox() const override
Get the bounding box for the link and all the child elements.
virtual void UpdateParameters(sdf::ElementPtr _sdf) override
Update the parameters using new sdf values.
virtual void SetAutoDisable(bool _disable)=0
Allow the link to auto disable.
void FillMsg(msgs::Link &_msg)
Fill a link message.
ignition::math::Vector3d RelativeForce() const
Get the force applied to the body.
ignition::math::Pose3d WorldCoGPose() const
Get the pose of the body's center of gravity in the world coordinate frame.
Store state information of a physics::Link object.
Definition: LinkState.hh:48
virtual void Reset()
Reset the entity.
virtual bool GetKinematic() const
\TODO Implement this function.
Definition: Link.hh:387
void SetState(const LinkState &_state)
Set the current link state.
virtual void SetAngularVel(const ignition::math::Vector3d &_vel)=0
Set the angular velocity of the body.
void RemoveParentJoint(const std::string &_jointName)
Remove Joints that have this Link as a child Link.
CollisionPtr GetCollision(unsigned int _index) const
Get a child collision by index.
const ignition::math::Vector3d WorldWindLinearVel() const
Returns this link's wind velocity in the world coordinate frame.
virtual void Init() override
Initialize the body.
virtual bool WindMode() const
Get the wind mode.
CollisionPtr GetCollision(const std::string &_name)
Get a child collision by name.
virtual void SetForce(const ignition::math::Vector3d &_force)=0
Set the force applied to the body.
bool SetVisualPose(const uint32_t _id, const ignition::math::Pose3d &_pose)
Set the pose of a visual.
void SetLaserRetro(float _retro)
Set the laser retro reflectiveness.
event::ConnectionPtr ConnectEnabled(std::function< void(bool)> _subscriber)
Connect to the add entity signal.
double GetLinearDamping() const
Get the linear damping factor.
void SetPublishData(bool _enable)
Enable/Disable link data publishing.
InertialPtr inertial
Inertial properties.
Definition: Link.hh:679
virtual void UpdateSurface()
Update surface parameters.
Definition: Link.hh:469
Link_V GetParentJointsLinks() const
Returns a vector of parent Links connected by joints.
ignition::math::Matrix3d WorldInertiaMatrix() const
Get the inertia matrix in the world frame.
virtual ignition::math::Vector3d WorldForce() const =0
Get the force applied to the body in the world frame.
bool GetSelfCollide() const
Get Self-Collision Flag.
Link class defines a rigid body entity, containing information on inertia, visual and collision prope...
Definition: Link.hh:53
void ProcessMsg(const msgs::Link &_msg)
Update parameters from a message.
double GetWorldEnergy() const
Returns this link's total energy, or sum of Link::GetWorldEnergyPotential() and Link::GetWorldEnergyK...
ignition::math::Vector3d RelativeLinearAccel() const override
Get the linear acceleration of the body.
Link(EntityPtr _parent)
Constructor.
void UpdateWind(const common::UpdateInfo &_info)
Update the wind.
ignition::math::Pose3d WorldInertialPose() const
Get the world pose of the link inertia (cog position and Moment of Inertia frame).
virtual void Load(sdf::ElementPtr _sdf) override
Load the body based on an SDF element.
virtual void AddTorque(const ignition::math::Vector3d &_torque)=0
Add a torque to the body.
std::optional< sdf::SemanticPose > SDFSemanticPose() const override
Get the SDF SemanticPose object associated with the pose of this object.
bool initialized
This flag is set to true when the link is initialized.
Definition: Link.hh:688
void ResetPhysicsStates()
Reset the velocity, acceleration, force and torque of link.
virtual bool GetEnabled() const =0
Get whether this body is enabled in the physics engine.
void SetScale(const ignition::math::Vector3d &_scale)
Set the scale of the link.
virtual void SetAngularDamping(double _damping)=0
Set the angular damping factor.
Link_V GetChildJointsLinks() const
Returns a vector of children Links connected by joints.
std::map< uint32_t, msgs::Visual > Visuals_M
Definition: Link.hh:621
void AttachStaticModel(ModelPtr &_model, const ignition::math::Pose3d &_offset)
Attach a static model to this link.
virtual void RemoveChild(unsigned int _id)
Remove a child from this entity.
void Reset() override
Reset the link.
virtual void RegisterIntrospectionItems() override
Register items in the introspection service.
Joint_V GetChildJoints() const
Get the child joints.
virtual void AddRelativeForce(const ignition::math::Vector3d &_force)=0
Add a force to the body, components are relative to the body's own frame of reference.
void AddChildJoint(JointPtr _joint)
Joints that have this Link as a parent Link.
virtual ignition::math::Vector3d WorldTorque() const =0
Get the torque applied to the body about the center of mass in world frame coordinates.
boost::shared_ptr< Connection > ConnectionPtr
Definition: CommonTypes.hh:134
void Update(const common::UpdateInfo &_info)
Update the collision.
msgs::Visual GetVisualMessage(const std::string &_name) const
Returns the visual message specified by its name.
boost::shared_ptr< Link > LinkPtr
Definition: PhysicsTypes.hh:110
ignition::math::Vector3d RelativeLinearVel() const override
Get the linear velocity of the body.
virtual void SetSelfCollide(bool _collide)=0
Set whether this body will collide with others in the model.
ignition::math::Vector3d WorldLinearAccel() const override
Get the linear acceleration of the body in the world frame.
void RemoveChildJoint(const std::string &_jointName)
Remove Joints that have this Link as a parent Link.
virtual bool GetGravityMode() const =0
Get the gravity mode.
virtual bool SetSelected(bool _set) override
Set whether this entity has been selected by the user through the gui.
const sdf::Link * GetSDFDom() const
Get the SDF DOM object of this link.
virtual void AddForce(const ignition::math::Vector3d &_force)=0
Add a force to the body.
virtual void OnPoseChange() override
This function is called when the entity's (or one of its parents) pose of the parent has changed.
void Fini() override
Finalize the body.
boost::shared_ptr< Entity > EntityPtr
Definition: PhysicsTypes.hh:86
ignition::math::Vector3d WorldAngularMomentum() const
Get the angular momentum of the body CoG in the world frame, which is computed as (I * w),...
virtual void AddRelativeTorque(const ignition::math::Vector3d &_torque)=0
Add a torque to the body, components are relative to the body's own frame of reference.
boost::shared_ptr< Joint > JointPtr
Definition: PhysicsTypes.hh:118
Base class for all physics objects in Gazebo.
Definition: Entity.hh:53
std::vector< ignition::math::Pose3d > attachedModelsOffset
Offsets for the attached models.
Definition: Link.hh:685
ignition::math::Vector3d RelativeTorque() const
Get the torque applied to the body.
size_t BatteryCount() const
Get the number of batteries in this link.
bool FindAllConnectedLinksHelper(const LinkPtr &_originalParentLink, Link_V &_connectedLinks, bool _fistLink=false)
Helper function to find all connected links of a link based on parent/child relations of joints.
std::shared_ptr< Battery > BatteryPtr
Definition: CommonTypes.hh:125
boost::shared_ptr< Collision > CollisionPtr
Definition: PhysicsTypes.hh:114
std::vector< LinkPtr > Link_V
Definition: PhysicsTypes.hh:226
virtual void AddForceAtRelativePosition(const ignition::math::Vector3d &_force, const ignition::math::Vector3d &_relPos)=0
Add a force (in world frame coordinates) to the body at a position relative to the center of mass whi...
ModelPtr GetModel() const
Get the model that this body belongs to.
std::vector< CollisionPtr > Collision_V
Definition: PhysicsTypes.hh:230
virtual ignition::math::Vector3d WorldCoGLinearVel() const =0
Get the linear velocity at the body's center of gravity in the world frame.
void SetCollideMode(const std::string &_mode)
Set the collide mode of the body.
void AddParentJoint(JointPtr _joint)
Joints that have this Link as a child Link.
virtual void SetTorque(const ignition::math::Vector3d &_torque)=0
Set the torque applied to the body.
common::BatteryPtr Battery(const size_t _index) const
Get a battery based on an index.
const Visuals_M & Visuals() const
Return the link visual elements.
double GetWorldEnergyKinetic() const
Returns this link's kinetic energy computed using link's CoG velocity in the inertial (world) frame.
virtual void UpdateMass()
Update the mass matrix.
Definition: Link.hh:466
Information for use in an update event.
Definition: UpdateInfo.hh:31
virtual void RemoveChild(EntityPtr _child)
ignition::math::Vector3d RelativeAngularAccel() const override
Get the angular acceleration of the body.
boost::shared_ptr< Inertial > InertialPtr
Definition: PhysicsTypes.hh:158
void SetStatic(const bool &_static)
Set whether this entity is static: immovable.
virtual ignition::math::Vector3d WorldLinearVel() const override
Get the linear velocity of the origin of the link frame, expressed in the world frame.
virtual void SetKinematic(const bool &_kinematic)
\TODO Implement this function.
void SetInertial(const InertialPtr &_inertial)
Set the mass of the link.
void DetachAllStaticModels()
Detach all static models from this link.
virtual void SetEnabled(bool _enable) const =0
Set whether this body is enabled.
virtual ignition::math::Vector3d WorldLinearVel(const ignition::math::Vector3d &_offset) const =0
Get the linear velocity of a point on the body in the world frame, using an offset expressed in a bod...
virtual void SetLinearDamping(double _damping)=0
Set the linear damping factor.
common::BatteryPtr Battery(const std::string &_name) const
Get a battery by name.
void DetachStaticModel(const std::string &_modelName)
Detach a static model from this link.