Gazebo is a leading open source robotics simulator, that provides high fidelity physics, rendering, and sensor simulation. More...

Namespaces
	components
	Components represent data, such as position information. An Entity usually has one or more associated components.

	events
	Namespace for all events. Refer to the EventManager class for more information about events.

	systems
	Namespace for all System plugins. Refer to the System class for more information about systems.

Classes
class	ComponentStorage
	Templated implementation of component storage. More...

class	ComponentStorageBase
	All component instances of the same type are stored squentially in memory. This is a base class for storing components of a particular type. More...

class	EntityComponentManager
	The EntityComponentManager constructs, deletes, and returns components and entities. A component can be of any class which inherits from `components::BaseComponent`. More...

class	EventManager
	The EventManager is used to send/receive notifications of simulator events. More...

class	ISystemConfigure
	Interface for a system that implements optional configuration. More...

class	ISystemPostUpdate
	Interface for a system that uses the PostUpdate phase. More...

class	ISystemPreUpdate
	Interface for a system that uses the PreUpdate phase. More...

class	ISystemUpdate
	Interface for a system that uses the Update phase. More...

class	Model
	This class provides wrappers around entities and components which are more convenient and straight-forward to use than dealing with the `EntityComponentManager` directly. All the functions provided here are meant to be used with a model entity. More...

class	SdfEntityCreator
	Provides convenient functions to spawn entities and load their plugins from SDF elements, to remove them, and to change their hierarchy. More...

class	Server
	The server instantiates and controls simulation. More...

class	ServerConfig
	Configuration parameters for a Server. An instance of this object can be used to construct a Server with a particular configuration. More...

class	System
	Base class for a System. More...

class	SystemLoader
	Class for loading/unloading System plugins. More...

class	TmpIface
	Temporary place to prototype transport interfaces while it's not clear where they will live. More...

struct	UpdateInfo
	Information passed to systems on the update callback. More...

Typedefs
using	ComponentId = int
	A unique identifier for a component instance. The uniqueness of a ComponentId is scoped to the component's type. More...

using	ComponentKey = std::pair< ComponentTypeId, ComponentId >
	A key that uniquely identifies, at the global scope, a component instance. More...

using	ComponentTypeId = uint64_t
	A unique identifier for a component type. A component type must be derived from `components::BaseComponent` and can contain plain data or something more complex like `ignition::math::Pose3d`. More...

using	Entity = uint64_t
	An Entity identifies a single object in simulation such as a model, link, or light. At its core, an Entity is just an identifier. More...

using	EntityGraph = math::graph::DirectedGraph< Entity, bool >
	Type alias for the graph that holds entities. Each vertex is an entity, and the direction points from the parent to its children. All edges are positive booleans. More...

using	EntityQueryCallback = std::function< void(const UpdateInfo, EntityComponentManager &)>
	typedef for query callbacks More...

using	SystemPluginPtr = ignition::plugin::SpecializedPluginPtr< System, ISystemConfigure, ISystemPreUpdate, ISystemUpdate, ISystemPostUpdate >

Functions
template<class Out >
Out	convert (const sdf::Geometry &)
	Generic conversion from an SDF geometry to another type. More...

template<>
msgs::Geometry	convert (const sdf::Geometry &_in)
	Specialized conversion from an SDF geometry to a geometry message. More...

template<class Out >
Out	convert (const sdf::Material &)
	Generic conversion from an SDF material to another type. More...

template<>
msgs::Material	convert (const sdf::Material &_in)
	Specialized conversion from an SDF material to a material message. More...

template<class Out >
Out	convert (const sdf::Light &)
	Generic conversion from an SDF light to another type. More...

template<>
msgs::Light	convert (const sdf::Light &_in)
	Specialized conversion from an SDF light to a light message. More...

template<class Out >
Out	convert (const sdf::Gui &)
	Generic conversion from an SDF gui to another type. More...

template<>
msgs::GUI	convert (const sdf::Gui &_in)
	Specialized conversion from an SDF gui to a gui message. More...

std::string	scopedName (const Entity &_entity, const EntityComponentManager &_ecm, const std::string &_delim="/", bool _includePrefix=true)
	Helper function to generate scoped name for an entity. More...

math::Pose3d	worldPose (const Entity &_entity, const EntityComponentManager &_ecm)
	Helper function to compute world pose of an entity. More...

Variables
class IGNITION_GAZEBO_HIDDEN	EntityComponentManagerPrivate

class IGNITION_GAZEBO_HIDDEN	EventManagerPrivate

static const ComponentId	kComponentIdInvalid = -1
	Id that indicates an invalid component. More...

static const ComponentTypeId	kComponentTypeIdInvalid = -1
	Id that indicates an invalid component type. More...

const Entity	kNullEntity {0}
	Indicates a non-existant or invalid Entity. More...

class IGNITION_GAZEBO_HIDDEN	ModelPrivate

class IGNITION_GAZEBO_HIDDEN	SystemLoaderPrivate

Detailed Description

Gazebo is a leading open source robotics simulator, that provides high fidelity physics, rendering, and sensor simulation.

Typedef Documentation

◆ ComponentId

using ComponentId = int

A unique identifier for a component instance. The uniqueness of a ComponentId is scoped to the component's type.

See also: ComponentKey.

◆ ComponentKey

using ComponentKey = std::pair<ComponentTypeId, ComponentId>

A key that uniquely identifies, at the global scope, a component instance.

◆ ComponentTypeId

using ComponentTypeId = uint64_t

A unique identifier for a component type. A component type must be derived from components::BaseComponent and can contain plain data or something more complex like ignition::math::Pose3d.

◆ Entity

using Entity = uint64_t

An Entity identifies a single object in simulation such as a model, link, or light. At its core, an Entity is just an identifier.

An Entity usually has one or more associated Components. Components represent data, such as position information.

The set of Components assigned to an Entity also act as a key. Systems process Entities based on their key. For example, a physics system may process only entities that have pose and inertia components.

An Entity that needs to be identified and used by Systems should be created through the EntityComponentManager.

◆ EntityGraph

using EntityGraph = math::graph::DirectedGraph<Entity, bool>

Type alias for the graph that holds entities. Each vertex is an entity, and the direction points from the parent to its children. All edges are positive booleans.

◆ EntityQueryCallback

using EntityQueryCallback = std::function<void (const UpdateInfo, EntityComponentManager &)>

typedef for query callbacks

◆ SystemPluginPtr

using SystemPluginPtr = ignition::plugin::SpecializedPluginPtr< System, ISystemConfigure, ISystemPreUpdate, ISystemUpdate, ISystemPostUpdate >

Function Documentation

◆ convert() [1/8]

Out ignition::gazebo::convert ( const sdf::Geometry & )

Generic conversion from an SDF geometry to another type.

Specialized conversion from an SDF geometry to a geometry message.

Parameters

[in] _in SDF geometry.

Returns: Conversion result.

Template Parameters

Out	Output type.

References convert().

Referenced by convert().

◆ convert() [2/8]

msgs::Geometry ignition::gazebo::convert ( const sdf::Geometry & )

Specialized conversion from an SDF geometry to a geometry message.

Parameters

[in] _in SDF geometry.

Returns: Geometry message.

Specialized conversion from an SDF geometry to a geometry message.

Parameters

[in] _in SDF geometry.

Returns: Conversion result.

Template Parameters

Out	Output type.

References convert().

Referenced by convert().

◆ convert() [3/8]

Out ignition::gazebo::convert ( const sdf::Material & )

Generic conversion from an SDF material to another type.

Specialized conversion from an SDF material to a material message.

Parameters

[in] _in SDF material.

Returns: Conversion result.

Template Parameters

Out	Output type.

References convert().

◆ convert() [4/8]

msgs::Material ignition::gazebo::convert ( const sdf::Material & )

Specialized conversion from an SDF material to a material message.

Parameters

[in] _in SDF material.

Returns: Material message.

Specialized conversion from an SDF material to a material message.

Parameters

[in] _in SDF material.

Returns: Conversion result.

Template Parameters

Out	Output type.

References convert().

◆ convert() [5/8]

Out ignition::gazebo::convert ( const sdf::Light & )

Generic conversion from an SDF light to another type.

Specialized conversion from an SDF light to a light message.

Parameters

[in] _in SDF light.

Returns: Conversion result.

Template Parameters

Out	Output type.

References convert().

◆ convert() [6/8]

msgs::Light ignition::gazebo::convert ( const sdf::Light & )

Specialized conversion from an SDF light to a light message.

Parameters

[in] _in SDF light.

Returns: Light message.

Specialized conversion from an SDF light to a light message.

Parameters

[in] _in SDF light.

Returns: Conversion result.

Template Parameters

Out	Output type.

References convert().

◆ convert() [7/8]

Out ignition::gazebo::convert ( const sdf::Gui & )

Generic conversion from an SDF gui to another type.

Specialized conversion from an SDF gui to a gui message.

Parameters

[in] _in SDF gui.

Returns: Conversion result.

Template Parameters

Out	Output type.

References convert().

◆ convert() [8/8]

msgs::GUI ignition::gazebo::convert ( const sdf::Gui & )

Specialized conversion from an SDF gui to a gui message.

Parameters

[in] _in SDF gui.

Returns: Gui message.

Specialized conversion from an SDF gui to a gui message.

Parameters

[in] _in SDF gui.

Returns: Conversion result.

Template Parameters

Out	Output type.

References convert().

◆ scopedName()

std::string ignition::gazebo::scopedName	(	const Entity &	_entity,
		const EntityComponentManager &	_ecm,
		const std::string &	_delim = `"/"`,
		bool	_includePrefix = `true`
	)

Helper function to generate scoped name for an entity.

Parameters

[in]	_entity	Entity to get the name for.
[in]	_ecm	Immutable reference to ECM.
[in]	_delim	Delimiter to put between names, defaults to "/".
[in]	_includePrefix	True to include the type prefix before the entity name

◆ worldPose()

math::Pose3d ignition::gazebo::worldPose	(	const Entity &	_entity,
		const EntityComponentManager &	_ecm
	)

Helper function to compute world pose of an entity.

Parameters

[in]	_entity	Entity to get the world pose for
[in]	_ecm	Immutable reference to ECM.

Returns: World pose of entity

Variable Documentation

◆ EntityComponentManagerPrivate

class IGNITION_GAZEBO_HIDDEN EntityComponentManagerPrivate

◆ EventManagerPrivate

class IGNITION_GAZEBO_HIDDEN EventManagerPrivate

◆ kComponentIdInvalid

const ComponentId kComponentIdInvalid = -1

static

Id that indicates an invalid component.

◆ kComponentTypeIdInvalid

const ComponentTypeId kComponentTypeIdInvalid = -1

static

Id that indicates an invalid component type.

◆ kNullEntity

const Entity kNullEntity {0}

Indicates a non-existant or invalid Entity.

Referenced by EntityComponentManager::EntityByComponents().

◆ ModelPrivate

class IGNITION_GAZEBO_HIDDEN ModelPrivate

◆ SystemLoaderPrivate

class IGNITION_GAZEBO_HIDDEN SystemLoaderPrivate

Ignition Gazebo

API Reference

Namespaces

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

◆ ComponentId

◆ ComponentKey

◆ ComponentTypeId

◆ Entity

◆ EntityGraph

◆ EntityQueryCallback

◆ SystemPluginPtr

Function Documentation

◆ convert() [1/8]

◆ convert() [2/8]

◆ convert() [3/8]

◆ convert() [4/8]

◆ convert() [5/8]

◆ convert() [6/8]

◆ convert() [7/8]

◆ convert() [8/8]

◆ scopedName()

◆ worldPose()

Variable Documentation

◆ EntityComponentManagerPrivate

◆ EventManagerPrivate

◆ kComponentIdInvalid

◆ kComponentTypeIdInvalid

◆ kNullEntity

◆ ModelPrivate

◆ SystemLoaderPrivate