Ignition Gazebo

API Reference

3.5.0
Util.hh File Reference
#include <string>
#include <vector>
#include <ignition/math/Pose3.hh>
#include "ignition/gazebo/config.hh"
#include "ignition/gazebo/Entity.hh"
#include "ignition/gazebo/EntityComponentManager.hh"
#include "ignition/gazebo/Export.hh"
#include "ignition/gazebo/Types.hh"

Go to the source code of this file.

Namespaces

 ignition
 This library is part of the Ignition Robotics project.
 
 ignition::gazebo
 Gazebo is a leading open source robotics simulator, that provides high fidelity physics, rendering, and sensor simulation.
 

Functions

void addResourcePaths (const std::vector< std::string > &_paths={})
 Add resource paths based on latest environment variables. This will update the SDF and Ignition environment variables, and optionally add more paths to the list. More...
 
std::string asFullPath (const std::string &_uri, const std::string &_filePath)
 Combine a URI and a file path into a full path. If the URI is already a full path or contains a scheme, it won't be modified. If the URI is a relative path, the file path will be prepended. More...
 
ComponentTypeId entityTypeId (const Entity &_entity, const EntityComponentManager &_ecm)
 Generally, each entity will be of some specific high-level type, such as World, Sensor, Collision, etc, and one type only. The entity type is usually marked by having some component that represents that type, such as components::Visual. More...
 
std::string entityTypeStr (const Entity &_entity, const EntityComponentManager &_ecm)
 Generally, each entity will be of some specific high-level type, such as "world", "sensor", "collision", etc, and one type only. More...
 
std::string removeParentScope (const std::string &_name, const std::string &_delim)
 Helper function to remove a parent scope from a given name. This removes the first name found before the delimiter. More...
 
std::vector< std::stringresourcePaths ()
 Get resource paths based on latest environment variables. 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...
 
Entity topLevelModel (const Entity &_entity, const EntityComponentManager &_ecm)
 Get the top level model of an entity. More...
 
Entity worldEntity (const Entity &_entity, const EntityComponentManager &_ecm)
 Get the world to which the given entity belongs. More...
 
math::Pose3d worldPose (const Entity &_entity, const EntityComponentManager &_ecm)
 Helper function to compute world pose of an entity. More...
 

Variables

const std::string kRenderPluginPathEnv {"IGN_GAZEBO_RENDER_ENGINE_PATH"}
 Environment variable holding paths to custom rendering engine plugins. More...
 
const std::string kResourcePathEnv {"IGN_GAZEBO_RESOURCE_PATH"}
 Environment variable holding resource paths. More...
 
const std::string kSdfPathEnv {"SDF_PATH"}
 Environment variable used by SDFormat to find URIs inside <include> More...