Ignition Gazebo

API Reference

3.5.0
ignition::gazebo Namespace Reference

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.
 
 gui
 
 logical_audio
 
 serializers
 A Serializer class is used to serialize and deserialize a component. It is passed in as the third template parameter to components::Component. Eg.
 
 systems
 Namespace for all System plugins. Refer to the System class for more information about systems.
 
 traits
 

Classes

class  AlignTool
 Provides buttons for the align tool. More...
 
struct  Display
 Data used by the DisplayData() function to filter and sort the resources to be displayed. 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  EntityContextMenu
 A context menu providing actions that can be invoked on an entity. More...
 
class  EntityTree
 Displays a tree view with all the entities in the world. More...
 
class  EventManager
 The EventManager is used to send/receive notifications of simulator events. More...
 
class  GridConfig
 
class  GuiRunner
 Responsible for running GUI systems as new states are received from the backend. More...
 
class  GuiSystem
 Base class for a GUI System. More...
 
class  IgnGazeboPlugin
 IgnGazebo QML Plugin that registers C++ class so that they are accessible from QML. More...
 
class  IgnRenderer
 Ign-rendering renderer. All ign-rendering calls should be performed inside this class as it makes sure that opengl calls in the underlying render engine do not interfere with QtQuick's opengl render operations. The main Render function will render to an offscreen texture and notify via signal and slots when it's ready to be displayed. 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  Link
 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 link entity. More...
 
class  MarkerManager
 Creates, deletes, and maintains marker visuals. Only the Scene class should instantiate and use this class. 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  PathModel
 Provides a model by which the resource spawner qml plugin pulls and updates from. More...
 
class  PlaybackScrubber
 Provides buttons for adding a box, sphere, or cylinder to the scene. More...
 
class  RenderThread
 Rendering thread. More...
 
class  RenderUtil
 
class  RenderWindowItem
 A QQUickItem that manages the render window. More...
 
struct  Resource
 Resource used to update the ResourceModel. More...
 
class  ResourceModel
 Provides a model by which the resource spawner qml plugin pulls and updates from. More...
 
class  ResourceSpawner
 Provides interface for communicating to backend for generation of local models. More...
 
class  Scene3D
 Creates a new ignition rendering scene or adds a user-camera to an existing scene. It is possible to orbit the camera around the scene with the mouse. Use other plugins to manage objects in the scene. More...
 
class  SceneManager
 Scene manager class for loading and managing objects in the scene. 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  Shapes
 Provides buttons for adding a box, sphere, or cylinder to the scene. More...
 
class  System
 Base class for a System. More...
 
class  SystemLoader
 Class for loading/unloading System plugins. More...
 
class  TapeMeasure
 Provides buttons for the tape measure tool. More...
 
class  TextureNode
 Texture node for displaying the render texture from ign-renderer. More...
 
class  TmpIface
 Temporary place to prototype transport interfaces while it's not clear where they will live. More...
 
class  TransformControl
 Provides buttons for translation, rotation, and scale. More...
 
class  TreeModel
 TODO. More...
 
struct  UpdateInfo
 Information passed to systems on the update callback. More...
 
class  VideoRecorder
 Provides buttons for starting and stopping video recording. More...
 
class  ViewAngle
 Provides buttons for viewing angles. More...
 
class  World
 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 world entity. 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 >
 

Enumerations

enum  AlignAxis { ALIGN_X = 0, ALIGN_Y = 1, ALIGN_Z = 2 }
 Enumeration of the axes to be aligned relative to. More...
 
enum  AlignState { HOVER = 0, RESET = 1, ALIGN = 2, NONE = 3 }
 Enumeration of the states within the Align Tool. More...
 
enum  ComponentState { NoChange = 0, PeriodicChange = 1, OneTimeChange = 2 }
 Possible states for a component. More...
 

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...
 
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 msgs::Pose &)
 Generic conversion from a msgs Pose to another type. More...
 
template<>
math::Pose3d convert (const msgs::Pose &_in)
 Specialized conversion for msgs Pose to math Pose. More...
 
template<class Out >
Out convert (const msgs::Geometry &)
 Generic conversion from a geometry message to another type. More...
 
template<>
sdf::Geometry convert (const msgs::Geometry &_in)
 Specialized conversion from a geometry message to a geometry SDF object. 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 msgs::Material &)
 Generic conversion from a material message to another type. More...
 
template<>
sdf::Material convert (const msgs::Material &_in)
 Specialized conversion from a material message to a material SDF object. More...
 
template<class Out >
Out convert (const sdf::Actor &)
 Generic conversion from an SDF actor to another type. More...
 
template<>
msgs::Actor convert (const sdf::Actor &_in)
 Specialized conversion from an SDF actor to an actor message. More...
 
template<class Out >
Out convert (const msgs::Actor &)
 Generic conversion from an actor message to another type. More...
 
template<>
sdf::Actor convert (const msgs::Actor &_in)
 Specialized conversion from an actor message to an actor SDF object. 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 msgs::Light &)
 Generic conversion from a light message to another type. More...
 
template<>
sdf::Light convert (const msgs::Light &_in)
 Specialized conversion from a light message to a light SDF object. 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...
 
template<class Out >
Out convert (const std::chrono::steady_clock::duration &)
 Generic conversion from a steady clock duration to another type. More...
 
template<>
msgs::Time convert (const std::chrono::steady_clock::duration &_in)
 Specialized conversion from a steady clock duration to a time message. More...
 
template<class Out >
Out convert (const msgs::Time &)
 Generic conversion from a time message to another type. More...
 
template<>
std::chrono::steady_clock::duration convert (const msgs::Time &_in)
 Specialized conversion from a time message to a steady clock duration. More...
 
template<class Out >
Out convert (const math::Inertiald &)
 Generic conversion from a math inertial to another type. More...
 
template<>
msgs::Inertial convert (const math::Inertiald &_in)
 Specialized conversion from a math inertial to an inertial message. More...
 
template<class Out >
Out convert (const msgs::Inertial &)
 Generic conversion from an inertial message to another type. More...
 
template<>
math::Inertiald convert (const msgs::Inertial &_in)
 Specialized conversion from an inertial message to an inertial math object. More...
 
template<class Out >
Out convert (const sdf::JointAxis &)
 Generic conversion from an SDF joint axis to another type. More...
 
template<>
msgs::Axis convert (const sdf::JointAxis &_in)
 Specialized conversion from an SDF joint axis to an axis message. More...
 
template<class Out >
Out convert (const msgs::Axis &)
 Generic conversion from an axis message to another type. More...
 
template<>
sdf::JointAxis convert (const msgs::Axis &_in)
 Specialized conversion from an axis message to a joint axis SDF object. More...
 
template<class Out >
Out convert (const sdf::Scene &)
 Generic conversion from an SDF scene to another type. More...
 
template<>
msgs::Scene convert (const sdf::Scene &_in)
 Specialized conversion from an SDF scene to a scene message. More...
 
template<class Out >
Out convert (const msgs::Scene &)
 Generic conversion from a scene message to another type. More...
 
template<>
sdf::Scene convert (const msgs::Scene &_in)
 Specialized conversion from a scene message to a scene SDF object. More...
 
template<class Out >
Out convert (const sdf::Atmosphere &)
 Generic conversion from an SDF atmosphere to another type. More...
 
template<>
msgs::Atmosphere convert (const sdf::Atmosphere &_in)
 Specialized conversion from an SDF atmosphere to an atmosphere message. More...
 
template<class Out >
Out convert (const msgs::Atmosphere &)
 Generic conversion from an atmosphere message to another type. More...
 
template<>
sdf::Atmosphere convert (const msgs::Atmosphere &_in)
 Specialized conversion from an atmosphere message to an atmosphere SDF object. More...
 
template<class Out >
Out convert (const sdf::Sensor &)
 Generic conversion from an SDF Sensor to another type. More...
 
template<>
msgs::Sensor convert (const sdf::Sensor &_in)
 Specialized conversion from an SDF sensor to a sensor message. More...
 
template<class Out >
Out convert (const msgs::Sensor &)
 Generic conversion from a sensor message to another type. More...
 
template<>
sdf::Sensor convert (const msgs::Sensor &_in)
 Specialized conversion from a sensor message to a sensor SDF object. More...
 
template<class Out >
Out convert (const msgs::SensorNoise &)
 Generic conversion from a sensor noise message to another type. More...
 
template<>
sdf::Noise convert (const msgs::SensorNoise &_in)
 Specialized conversion from a sensor noise message to a noise SDF object. More...
 
template<class Out >
Out convert (const msgs::WorldStatistics &)
 Generic conversion from a world statistics message to another type. More...
 
template<>
UpdateInfo convert (const msgs::WorldStatistics &_in)
 Specialized conversion from a world statistics message to an UpdateInfo object. More...
 
template<class Out >
Out convert (const UpdateInfo &)
 Generic conversion from update info to another type. More...
 
template<>
msgs::WorldStatistics convert (const UpdateInfo &_in)
 Specialized conversion from update info to a world statistics message. More...
 
template<class Out >
Out convert (const sdf::Collision &)
 Generic conversion from an SDF collision to another type. More...
 
template<>
msgs::Collision convert (const sdf::Collision &_in)
 Specialized conversion from an SDF collision to a collision message. More...
 
template<class Out >
Out convert (const msgs::Collision &)
 Generic conversion from a collision message to another type. More...
 
template<>
sdf::Collision convert (const msgs::Collision &_in)
 Specialized conversion from a collision message to a collision SDF object. More...
 
template<class Out >
Out convert (const std::string &)
 Generic conversion from a string to another type. More...
 
template<>
msgs::Entity_Type convert (const std::string &_in)
 Specialized conversion from a string to an Entity_Type msg. More...
 
template<class Out >
Out convert (const math::AxisAlignedBox &)
 Generic conversion from axis aligned box object to another type. More...
 
template<>
msgs::AxisAlignedBox convert (const math::AxisAlignedBox &_in)
 Specialized conversion from a math axis aligned box object to an axis aligned box message. More...
 
template<class Out >
Out convert (const msgs::AxisAlignedBox &)
 Generic conversion from an axis aligned box message to another type. More...
 
template<>
math::AxisAlignedBox convert (const msgs::AxisAlignedBox &_in)
 Specialized conversion from an math axis aligned box message to an axis aligned box object. 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...
 
void set (msgs::SensorNoise *_msg, const sdf::Noise &_sdf)
 Helper function that sets a mutable msgs::SensorNoise object to the values contained in a sdf::Noise object. More...
 
void set (msgs::WorldStatistics *_msg, const UpdateInfo &_in)
 Helper function that sets a mutable msgs::WorldStatistics object to the values contained in a gazebo::UpdateInfo object. More...
 
void set (msgs::Time *_msg, const std::chrono::steady_clock::duration &_in)
 Helper function that sets a mutable msgs::Time object to the values contained in a std::chrono::steady_clock::duration object. 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

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...
 
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...
 
class IGNITION_GAZEBO_HIDDEN LinkPrivate
 
class IGNITION_GAZEBO_HIDDEN ModelPrivate
 
class IGNITION_GAZEBO_HIDDEN SystemLoaderPrivate
 
class IGNITION_GAZEBO_HIDDEN WorldPrivate
 

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

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

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

typedef for query callbacks

◆ SystemPluginPtr

Enumeration Type Documentation

◆ AlignAxis

enum AlignAxis
strong

Enumeration of the axes to be aligned relative to.

Enumerator
ALIGN_X 

Indicates an alignment relative to the x axis.

ALIGN_Y 

Indicates an alignment relative to the y axis.

ALIGN_Z 

Indicates an alignment relative to the z axis.

◆ AlignState

enum AlignState
strong

Enumeration of the states within the Align Tool.

Enumerator
HOVER 

Indicates the user is currently hovering the mouse over an align button.

RESET 

Indicates a reset of the currently placed nodes, only occurs on a hover exit if the align button has not been clicked.

ALIGN 

Indicates the user has clicked the align button.

NONE 

Indicates the user is currently not utilizing the align tool.

◆ ComponentState

enum ComponentState
strong

Possible states for a component.

Enumerator
NoChange 

Component value has not changed.

PeriodicChange 

Component value has changed, and is changing periodically. This indicates to systems that it is ok to drop a few samples.

OneTimeChange 

Component value has suffered a one-time change. This indicates to systems that this change must be processed and can't be dropped.

Function Documentation

◆ addResourcePaths()

void ignition::gazebo::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.

Parameters
[in]_pathsOptional paths to add.

◆ asFullPath()

std::string ignition::gazebo::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.

Parameters
[in]_uriURI, which can have a scheme, or be full or relative paths.
[in]_filePathThe path to a file in disk.
Returns
The full path URI.

◆ convert() [1/60]

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]_inSDF geometry.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

Referenced by convert().

◆ convert() [2/60]

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

Specialized conversion from an SDF geometry to a geometry message.

Parameters
[in]_inSDF geometry.
Returns
Geometry message.

Specialized conversion from an SDF geometry to a geometry message.

Parameters
[in]_inSDF geometry.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

Referenced by convert().

◆ convert() [3/60]

Out ignition::gazebo::convert ( const msgs::Pose )

Generic conversion from a msgs Pose to another type.

Specialized conversion for msgs Pose to math Pose.

Parameters
[in]_inmsgs Pose
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [4/60]

math::Pose3d ignition::gazebo::convert ( const msgs::Pose )

Specialized conversion for msgs Pose to math Pose.

Parameters
[in]_inmsgs Pose
Returns
math Pose.

Specialized conversion for msgs Pose to math Pose.

Parameters
[in]_inmsgs Pose
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [5/60]

Out ignition::gazebo::convert ( const msgs::Geometry )

Generic conversion from a geometry message to another type.

Specialized conversion from a geometry message to a geometry SDF object.

Parameters
[in]_inGeometry message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [6/60]

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

Specialized conversion from a geometry message to a geometry SDF object.

Parameters
[in]_inGeometry message.
Returns
SDF geometry.

Specialized conversion from a geometry message to a geometry SDF object.

Parameters
[in]_inGeometry message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [7/60]

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]_inSDF material.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [8/60]

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

Specialized conversion from an SDF material to a material message.

Parameters
[in]_inSDF material.
Returns
Material message.

Specialized conversion from an SDF material to a material message.

Parameters
[in]_inSDF material.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [9/60]

Out ignition::gazebo::convert ( const msgs::Material )

Generic conversion from a material message to another type.

Specialized conversion from a material message to a material SDF object.

Parameters
[in]_inMaterial message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [10/60]

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

Specialized conversion from a material message to a material SDF object.

Parameters
[in]_inMaterial message.
Returns
SDF material.

Specialized conversion from a material message to a material SDF object.

Parameters
[in]_inMaterial message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [11/60]

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

Generic conversion from an SDF actor to another type.

Specialized conversion from an SDF actor to an actor message.

Parameters
[in]_inSDF actor.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [12/60]

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

Specialized conversion from an SDF actor to an actor message.

Parameters
[in]_inSDF actor.
Returns
Actor message.

Specialized conversion from an SDF actor to an actor message.

Parameters
[in]_inSDF actor.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [13/60]

Out ignition::gazebo::convert ( const msgs::Actor )

Generic conversion from an actor message to another type.

Specialized conversion from an actor message to an actor SDF object.

Parameters
[in]_inActor message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [14/60]

sdf::Actor ignition::gazebo::convert ( const msgs::Actor )

Specialized conversion from an actor message to an actor SDF object.

Parameters
[in]_inActor message.
Returns
Actor SDF object.

Specialized conversion from an actor message to an actor SDF object.

Parameters
[in]_inActor message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [15/60]

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]_inSDF light.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [16/60]

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

Specialized conversion from an SDF light to a light message.

Parameters
[in]_inSDF light.
Returns
Light message.

Specialized conversion from an SDF light to a light message.

Parameters
[in]_inSDF light.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [17/60]

Out ignition::gazebo::convert ( const msgs::Light )

Generic conversion from a light message to another type.

Specialized conversion from a light message to a light SDF object.

Parameters
[in]_inLight message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [18/60]

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

Specialized conversion from a light message to a light SDF object.

Parameters
[in]_inLight message.
Returns
Light SDF object.

Specialized conversion from a light message to a light SDF object.

Parameters
[in]_inLight message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [19/60]

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]_inSDF gui.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [20/60]

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

Specialized conversion from an SDF gui to a gui message.

Parameters
[in]_inSDF gui.
Returns
Gui message.

Specialized conversion from an SDF gui to a gui message.

Parameters
[in]_inSDF gui.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [21/60]

Out ignition::gazebo::convert ( const std::chrono::steady_clock::duration &  )

Generic conversion from a steady clock duration to another type.

Specialized conversion from a steady clock duration to a time message.

Parameters
[in]_inSteady clock duration.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [22/60]

msgs::Time ignition::gazebo::convert ( const std::chrono::steady_clock::duration &  )

Specialized conversion from a steady clock duration to a time message.

Parameters
[in]_inSteady clock duration.
Returns
Ignition time message.

Specialized conversion from a steady clock duration to a time message.

Parameters
[in]_inSteady clock duration.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [23/60]

Out ignition::gazebo::convert ( const msgs::Time )

Generic conversion from a time message to another type.

Specialized conversion from a time message to a steady clock duration.

Parameters
[in]_inTime message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [24/60]

std::chrono::steady_clock::duration ignition::gazebo::convert ( const msgs::Time )

Specialized conversion from a time message to a steady clock duration.

Parameters
[in]_inTime message.
Returns
Steady clock duration.

Specialized conversion from a time message to a steady clock duration.

Parameters
[in]_inTime message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [25/60]

Out ignition::gazebo::convert ( const math::Inertiald )

Generic conversion from a math inertial to another type.

Specialized conversion from a math inertial to an inertial message.

Parameters
[in]_inMath inertial.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [26/60]

msgs::Inertial ignition::gazebo::convert ( const math::Inertiald )

Specialized conversion from a math inertial to an inertial message.

Parameters
[in]_inMath inertial.
Returns
Inertial message.

Specialized conversion from a math inertial to an inertial message.

Parameters
[in]_inMath inertial.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [27/60]

Out ignition::gazebo::convert ( const msgs::Inertial )

Generic conversion from an inertial message to another type.

Specialized conversion from an inertial message to an inertial math object.

Parameters
[in]_inInertial message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [28/60]

math::Inertiald ignition::gazebo::convert ( const msgs::Inertial )

Specialized conversion from an inertial message to an inertial math object.

Parameters
[in]_inInertial message.
Returns
math inertial.

Specialized conversion from an inertial message to an inertial math object.

Parameters
[in]_inInertial message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [29/60]

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

Generic conversion from an SDF joint axis to another type.

Specialized conversion from an SDF joint axis to an axis message.

Parameters
[in]_inSDF joint axis.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [30/60]

msgs::Axis ignition::gazebo::convert ( const sdf::JointAxis &  )

Specialized conversion from an SDF joint axis to an axis message.

Parameters
[in]_inSDF joint axis.
Returns
Axis message.

Specialized conversion from an SDF joint axis to an axis message.

Parameters
[in]_inSDF joint axis.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [31/60]

Out ignition::gazebo::convert ( const msgs::Axis )

Generic conversion from an axis message to another type.

Specialized conversion from an axis message to a joint axis SDF object.

Parameters
[in]_inAxis message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [32/60]

sdf::JointAxis ignition::gazebo::convert ( const msgs::Axis )

Specialized conversion from an axis message to a joint axis SDF object.

Parameters
[in]_inAxis message.
Returns
SDF joint axis.

Specialized conversion from an axis message to a joint axis SDF object.

Parameters
[in]_inAxis message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [33/60]

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

Generic conversion from an SDF scene to another type.

Specialized conversion from an SDF scene to a scene message.

Parameters
[in]_inSDF scene.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [34/60]

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

Specialized conversion from an SDF scene to a scene message.

Parameters
[in]_inSDF scene.
Returns
Scene message.

Specialized conversion from an SDF scene to a scene message.

Parameters
[in]_inSDF scene.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [35/60]

Out ignition::gazebo::convert ( const msgs::Scene )

Generic conversion from a scene message to another type.

Specialized conversion from a scene message to a scene SDF object.

Parameters
[in]_inScene message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [36/60]

sdf::Scene ignition::gazebo::convert ( const msgs::Scene )

Specialized conversion from a scene message to a scene SDF object.

Parameters
[in]_inScene message.
Returns
SDF scene.

Specialized conversion from a scene message to a scene SDF object.

Parameters
[in]_inScene message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [37/60]

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

Generic conversion from an SDF atmosphere to another type.

Specialized conversion from an SDF atmosphere to an atmosphere message.

Parameters
[in]_inSDF atmosphere.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [38/60]

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

Specialized conversion from an SDF atmosphere to an atmosphere message.

Parameters
[in]_inSDF atmosphere.
Returns
Atmosphere message.

Specialized conversion from an SDF atmosphere to an atmosphere message.

Parameters
[in]_inSDF atmosphere.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [39/60]

Out ignition::gazebo::convert ( const msgs::Atmosphere )

Generic conversion from an atmosphere message to another type.

Specialized conversion from an atmosphere message to an atmosphere SDF object.

Parameters
[in]_inAtmosphere message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [40/60]

sdf::Atmosphere ignition::gazebo::convert ( const msgs::Atmosphere )

Specialized conversion from an atmosphere message to an atmosphere SDF object.

Parameters
[in]_inAtmosphere message.
Returns
SDF scene.

Specialized conversion from an atmosphere message to an atmosphere SDF object.

Parameters
[in]_inAtmosphere message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [41/60]

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

Generic conversion from an SDF Sensor to another type.

Specialized conversion from an SDF sensor to a sensor message.

Parameters
[in]_inSDF Sensor.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [42/60]

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

Specialized conversion from an SDF sensor to a sensor message.

Parameters
[in]_inSDF geometry.
Returns
Sensor message.

Specialized conversion from an SDF sensor to a sensor message.

Parameters
[in]_inSDF Sensor.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [43/60]

Out ignition::gazebo::convert ( const msgs::Sensor )

Generic conversion from a sensor message to another type.

Specialized conversion from a sensor message to a sensor SDF object.

Parameters
[in]_inSensor message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [44/60]

sdf::Sensor ignition::gazebo::convert ( const msgs::Sensor )

Specialized conversion from a sensor message to a sensor SDF object.

Parameters
[in]_inSensor message.
Returns
SDF sensor.

Specialized conversion from a sensor message to a sensor SDF object.

Parameters
[in]_inSensor message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [45/60]

Out ignition::gazebo::convert ( const msgs::SensorNoise )

Generic conversion from a sensor noise message to another type.

Specialized conversion from a sensor noise message to a noise SDF object.

Parameters
[in]_inSensorNoise message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [46/60]

sdf::Noise ignition::gazebo::convert ( const msgs::SensorNoise )

Specialized conversion from a sensor noise message to a noise SDF object.

Parameters
[in]_inSensor noise message.
Returns
SDF noise.

Specialized conversion from a sensor noise message to a noise SDF object.

Parameters
[in]_inSensorNoise message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [47/60]

Out ignition::gazebo::convert ( const msgs::WorldStatistics )

Generic conversion from a world statistics message to another type.

Specialized conversion from a world statistics message to an UpdateInfo object.

Parameters
[in]_inWorldStatistics message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [48/60]

UpdateInfo ignition::gazebo::convert ( const msgs::WorldStatistics )

Specialized conversion from a world statistics message to an UpdateInfo object.

Parameters
[in]_inWorldStatistics message.
Returns
Update info.

Specialized conversion from a world statistics message to an UpdateInfo object.

Parameters
[in]_inWorldStatistics message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [49/60]

Out ignition::gazebo::convert ( const UpdateInfo )

Generic conversion from update info to another type.

Specialized conversion from update info to a world statistics message.

Parameters
[in]_inUpdate info.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [50/60]

msgs::WorldStatistics ignition::gazebo::convert ( const UpdateInfo )

Specialized conversion from update info to a world statistics message.

Parameters
[in]_inUpdate info.
Returns
World statistics message.

Specialized conversion from update info to a world statistics message.

Parameters
[in]_inUpdate info.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [51/60]

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

Generic conversion from an SDF collision to another type.

Specialized conversion from an SDF collision to a collision message.

Parameters
[in]_inSDF collision.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [52/60]

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

Specialized conversion from an SDF collision to a collision message.

Parameters
[in]_inSDF collision.
Returns
Collision message.

Specialized conversion from an SDF collision to a collision message.

Parameters
[in]_inSDF collision.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [53/60]

Out ignition::gazebo::convert ( const msgs::Collision )

Generic conversion from a collision message to another type.

Specialized conversion from a collision message to a collision SDF object.

Parameters
[in]_inCollision message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [54/60]

sdf::Collision ignition::gazebo::convert ( const msgs::Collision )

Specialized conversion from a collision message to a collision SDF object.

Parameters
[in]_inCollision message.
Returns
SDF collision.

Specialized conversion from a collision message to a collision SDF object.

Parameters
[in]_inCollision message.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [55/60]

Out ignition::gazebo::convert ( const std::string )

Generic conversion from a string to another type.

Specialized conversion from a string to an Entity_Type msg.

Parameters
[in]_instring.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [56/60]

msgs::Entity_Type ignition::gazebo::convert ( const std::string )

Specialized conversion from a string to an Entity_Type msg.

Parameters
[in]_instring message.
Returns
Entity_Type.

Specialized conversion from a string to an Entity_Type msg.

Parameters
[in]_instring.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [57/60]

Out ignition::gazebo::convert ( const math::AxisAlignedBox )

Generic conversion from axis aligned box object to another type.

Specialized conversion from a math axis aligned box object to an axis aligned box message.

Parameters
[in]_inAxis aligned box object.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [58/60]

msgs::AxisAlignedBox ignition::gazebo::convert ( const math::AxisAlignedBox )

Specialized conversion from a math axis aligned box object to an axis aligned box message.

Parameters
[in]_inAxis aligned box message
Returns
Axis aligned box message.

Specialized conversion from a math axis aligned box object to an axis aligned box message.

Parameters
[in]_inAxis aligned box object.
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [59/60]

Out ignition::gazebo::convert ( const msgs::AxisAlignedBox )

Generic conversion from an axis aligned box message to another type.

Specialized conversion from an math axis aligned box message to an axis aligned box object.

Parameters
[in]_inAxis aligned box message
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ convert() [60/60]

math::AxisAlignedBox ignition::gazebo::convert ( const msgs::AxisAlignedBox )

Specialized conversion from an math axis aligned box message to an axis aligned box object.

Parameters
[in]_inAxis aligned box object
Returns
Axis aligned box object.

Specialized conversion from an math axis aligned box message to an axis aligned box object.

Parameters
[in]_inAxis aligned box message
Returns
Conversion result.
Template Parameters
OutOutput type.

References convert().

◆ entityTypeId()

ComponentTypeId ignition::gazebo::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.

This function returns the type ID of the given entity's type, which can be checked against different types. For example, if the entity is a model, this will be true:

gazebo::components::Model::typeId == entityTypeId(entity, ecm)

In case the entity isn't of any known type, this will return kComponentTypeIdInvalid.

In case the entity has more than one type, only one of them will be returned. This is not standard usage.

Parameters
[in]_entityEntity to get the type for.
[in]_ecmImmutable reference to ECM.
Returns
ID of entity's type-defining components.

◆ entityTypeStr()

std::string ignition::gazebo::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.

This function returns a lowercase string for each type. For example, "light", "actor", etc.

In case the entity isn't of any known type, this will return an empty string.

In case the entity has more than one type, only one of them will be returned. This is not standard usage.

Note that this is different from component type names.

Parameters
[in]_entityEntity to get the type for.
[in]_ecmImmutable reference to ECM.
Returns
ID of entity's type-defining components.

◆ removeParentScope()

std::string ignition::gazebo::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.

Parameters
[in]_nameInput name possibly generated by scopedName.
[in]_delimDelimiter between names.
Returns
A new string with the parent scope removed.

◆ resourcePaths()

std::vector<std::string> ignition::gazebo::resourcePaths ( )

Get resource paths based on latest environment variables.

Returns
All paths in the IGN_GAZEBO_RESOURCE_PATH variable.

◆ 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]_entityEntity to get the name for.
[in]_ecmImmutable reference to ECM.
[in]_delimDelimiter to put between names, defaults to "/".
[in]_includePrefixTrue to include the type prefix before the entity name

◆ set() [1/3]

void ignition::gazebo::set ( msgs::SensorNoise _msg,
const sdf::Noise &  _sdf 
)

Helper function that sets a mutable msgs::SensorNoise object to the values contained in a sdf::Noise object.

Parameters
[out]_msgSensorNoise message to set.
[in]_sdfSDF Noise object.

◆ set() [2/3]

void ignition::gazebo::set ( msgs::WorldStatistics _msg,
const UpdateInfo _in 
)

Helper function that sets a mutable msgs::WorldStatistics object to the values contained in a gazebo::UpdateInfo object.

Parameters
[out]_msgWorldStatistics message to set.
[in]_inUpdateInfo object.

◆ set() [3/3]

void ignition::gazebo::set ( msgs::Time _msg,
const std::chrono::steady_clock::duration &  _in 
)

Helper function that sets a mutable msgs::Time object to the values contained in a std::chrono::steady_clock::duration object.

Parameters
[out]_msgTime message to set.
[in]_inChrono duration object.

◆ topLevelModel()

Entity ignition::gazebo::topLevelModel ( const Entity _entity,
const EntityComponentManager _ecm 
)

Get the top level model of an entity.

Parameters
[in]_entityInput entity
[in]_ecmConstant reference to ECM.
Returns
Entity of top level model

◆ worldEntity()

Entity ignition::gazebo::worldEntity ( const Entity _entity,
const EntityComponentManager _ecm 
)

Get the world to which the given entity belongs.

Parameters
[in]_entityEntity to get the world for.
[in]_ecmImmutable reference to ECM.
Returns
World entity ID.

◆ worldPose()

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

Helper function to compute world pose of an entity.

Parameters
[in]_entityEntity to get the world pose for
[in]_ecmImmutable 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.

◆ kRenderPluginPathEnv

const std::string kRenderPluginPathEnv {"IGN_GAZEBO_RENDER_ENGINE_PATH"}

Environment variable holding paths to custom rendering engine plugins.

◆ kResourcePathEnv

const std::string kResourcePathEnv {"IGN_GAZEBO_RESOURCE_PATH"}

Environment variable holding resource paths.

◆ kSdfPathEnv

const std::string kSdfPathEnv {"SDF_PATH"}

Environment variable used by SDFormat to find URIs inside <include>

◆ LinkPrivate

class IGNITION_GAZEBO_HIDDEN LinkPrivate

◆ ModelPrivate

class IGNITION_GAZEBO_HIDDEN ModelPrivate

◆ SystemLoaderPrivate

class IGNITION_GAZEBO_HIDDEN SystemLoaderPrivate

◆ WorldPrivate

class IGNITION_GAZEBO_HIDDEN WorldPrivate