17 #ifndef GAZEBO_PHYSICS_WORLD_HH_
18 #define GAZEBO_PHYSICS_WORLD_HH_
33 #include <boost/enable_shared_from_this.hpp>
80 class GZ_PHYSICS_VISIBLE
World :
81 public boost::enable_shared_from_this<World>
86 public:
explicit World(
const std::string &_name =
"");
94 public:
void Load(sdf::ElementPtr _sdf);
98 public:
const sdf::ElementPtr
SDF();
103 public:
void Save(
const std::string &_filename);
113 public:
void Run(
const unsigned int _iterations = 0);
135 public: std::string
Name()
const;
160 public: ignition::math::Vector3d
Gravity()
const;
164 public:
void SetGravity(
const ignition::math::Vector3d &_gravity);
282 const ignition::math::Vector3d &_pt)
const;
290 const ignition::math::Vector3d &_pt)
const;
328 public:
void Step(
const unsigned int _steps);
335 const std::string &_name,
336 sdf::ElementPtr _sdf);
465 private:
ModelPtr ModelById(
const unsigned int _id)
const;
471 private:
void LoadPlugins();
476 private:
void LoadEntities(sdf::ElementPtr _sdf,
BasePtr _parent);
504 private:
void RunLoop();
507 private:
void Step();
510 private:
void LogStep();
513 private:
void Update();
517 private:
void OnPause(
bool _p);
520 private:
void OnStep();
524 private:
void OnControl(ConstWorldControlPtr &_data);
528 private:
void OnPlaybackControl(ConstLogPlaybackControlPtr &_data);
532 private:
void OnRequest(ConstRequestPtr &_msg);
538 private:
void BuildSceneMsg(msgs::Scene &_scene,
BasePtr _entity);
542 private:
void JointLog(ConstJointPtr &_msg);
546 private:
void OnFactoryMsg(ConstFactoryPtr &_data);
550 private:
void OnModelMsg(ConstModelPtr &_msg);
553 private:
void ModelUpdateTBB();
556 private:
void ModelUpdateSingleLoop();
560 private:
void LoadPlugin(sdf::ElementPtr _sdf);
565 private:
void FillModelMsg(msgs::Model &_msg,
ModelPtr _model);
569 private:
void ProcessEntityMsgs();
573 private:
void ProcessRequestMsgs();
577 private:
void ProcessFactoryMsgs();
581 private:
void ProcessModelMsgs();
585 private:
void ProcessLightFactoryMsgs();
589 private:
void ProcessLightModifyMsgs();
593 private:
void ProcessPlaybackControlMsgs();
596 private:
bool OnLog(std::ostringstream &_stream);
600 private:
void LogModelResources();
603 private:
void ProcessMessages();
606 private:
void PublishWorldStats();
609 private:
void LogWorker();
612 private:
void RegisterIntrospectionItems();
615 private:
void UnregisterIntrospectionItems();
620 private:
void OnLightFactoryMsg(ConstLightPtr &_msg);
625 private:
void OnLightModifyMsg(ConstLightPtr &_msg);
643 private:
bool PluginInfoService(
const ignition::msgs::StringMsg &_request,
644 ignition::msgs::Plugin_V &_plugins);
648 private: std::unique_ptr<WorldPrivate> dataPtr;
default namespace for gazebo
Forward declarations for transport.
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:48
A complete URI.
Definition: URI.hh:177
This models a base atmosphere class to serve as a common interface to any derived atmosphere models.
Definition: Atmosphere.hh:43
EntityType
Unique identifiers for all entity types.
Definition: Base.hh:81
@ BASE
Base type.
Definition: Base.hh:83
DART Link class.
Definition: DARTLink.hh:40
Base class for all physics objects in Gazebo.
Definition: Entity.hh:53
Simbody physics engine.
Definition: SimbodyPhysics.hh:43
Base class for wind.
Definition: Wind.hh:42
Store state information of a physics::World object.
Definition: WorldState.hh:48
The world provides access to all other object within a simulated environment.
Definition: World.hh:82
void Fini()
Finalize the world.
void SetState(const WorldState &_state)
Set the current world state.
std::string UniqueModelName(const std::string &_name)
Get a model name which doesn't equal any existing model's name, by appending numbers to the given nam...
void RemoveModel(ModelPtr _model)
Remove a model.
void SetPhysicsEnabled(const bool _enable)
enable/disable physics engine during World::Update.
void InsertModelFile(const std::string &_sdfFilename)
Insert a model from an SDF file.
unsigned int LightCount() const
Get the number of lights.
void ClearModels()
Remove all entities from the world.
void Stop()
Stop the world.
bool SensorsInitialized() const
Get whether sensors have been initialized.
physics::Wind & Wind() const
Get a reference to the wind used by the world.
void SetGravitySDF(const ignition::math::Vector3d &_gravity)
Set the gravity sdf value.
void Init()
Initialize the world.
ModelPtr ModelByIndex(const unsigned int _index) const
Get a model based on an index.
void SetMagneticField(const ignition::math::Vector3d &_mag)
Set the magnetic field vector.
PhysicsEnginePtr Physics() const
Return the physics engine.
PresetManagerPtr PresetMgr() const
Return the preset manager.
void _SetSensorsInitialized(const bool _init)
void SetSimTime(const common::Time &_t)
Set the sim time.
virtual ignition::math::Vector3d MagneticField() const
Return the magnetic field vector.
void Reset()
Reset time and model poses, configurations in simulation.
void PublishLightPose(const physics::LightPtr _light)
Publish pose updates for a light.
void RemovePlugin(const std::string &_name)
Remove a running plugin.
void _AddDirty(Entity *_entity)
std::string Name() const
Get the name of the world.
void SetPaused(const bool _p)
Set whether the simulation is paused.
void ResetPhysicsStates()
Reset the velocity, acceleration, force and torque of all child models.
void SetWindEnabled(const bool _enable)
enable/disable wind.
bool WindEnabled() const
check if wind is enabled/disabled.
void SetAtmosphereEnabled(const bool _enable)
enable/disable atmosphere model.
std::string StripWorldName(const std::string &_name) const
Return a version of the name with "<world_name>::" removed.
void ResetEntities(Base::EntityType _type=Base::BASE)
Reset with options.
uint32_t Iterations() const
Get the total number of iterations.
void EnableAllModels()
Enable all links in all the models.
physics::Atmosphere & Atmosphere() const
Get a reference to the atmosphere model used by the world.
Light_V Lights() const
Get a list of all the lights.
LightPtr LightByName(const std::string &_name) const
Get a light by name.
bool IsLoaded() const
Return true if the world has been loaded.
void InsertModelString(const std::string &_sdfString)
Insert a model from an SDF string.
common::URI URI() const
Return the URI of the world.
ignition::math::Vector3d Gravity() const
Return the gravity vector.
void Run(const unsigned int _iterations=0)
Run the world in a thread.
ModelPtr ModelBelowPoint(const ignition::math::Vector3d &_pt) const
Get the nearest model below and not encapsulating a point.
void PublishModelScale(physics::ModelPtr _model)
Publish scale updates for a model.
LightPtr LoadLight(const sdf::ElementPtr &_sdf, const BasePtr &_parent)
Load a light.
void ResetTime()
Reset simulation time back to zero.
std::mutex & WorldPoseMutex() const
Get the set world pose mutex.
Model_V Models() const
Get a list of all the models.
bool PhysicsEnabled() const
check if physics engine is enabled/disabled.
bool IsPaused() const
Returns the state of the simulation true if paused.
common::Time StartTime() const
Get the wall time simulation was started.
common::Time RealTime() const
Get the real time (elapsed time).
void Clear()
Remove all entities from the world.
void InsertModelSDF(const sdf::SDF &_sdf)
Insert a model using SDF.
void Save(const std::string &_filename)
Save a world to a file.
bool Running() const
Return the running state of the world.
BasePtr BaseByName(const std::string &_name) const
Get an element by name.
void DisableAllModels()
Disable all links in all the models.
ModelPtr ModelByName(const std::string &_name) const
Get a model by name.
const sdf::ElementPtr SDF()
Get the SDF of the world in the current state.
void LoadPlugin(const std::string &_filename, const std::string &_name, sdf::ElementPtr _sdf)
Load a plugin.
void PublishModelPose(physics::ModelPtr _model)
Publish pose updates for a model.
EntityPtr EntityByName(const std::string &_name) const
Get a pointer to an Entity based on a name.
common::SphericalCoordinatesPtr SphericalCoords() const
Return the spherical coordinates converter.
void Load(sdf::ElementPtr _sdf)
Load the world using SDF parameters.
void PrintEntityTree()
Print Entity tree.
void UpdateStateSDF()
Update the state SDF value from the current state.
bool AtmosphereEnabled() const
check if atmosphere model is enabled/disabled.
World(const std::string &_name="")
Constructor.
msgs::Scene SceneMsg() const
Get the current scene in message form.
common::Time SimTime() const
Get the world simulation time, note if you want the PC wall clock call common::Time::GetWallTime.
void RunBlocking(const unsigned int _iterations=0)
Run the world.
void Step(const unsigned int _steps)
Step the world forward in time.
EntityPtr EntityBelowPoint(const ignition::math::Vector3d &_pt) const
Get the nearest entity below a point.
unsigned int ModelCount() const
Get the number of models.
void RemoveModel(const std::string &_name)
Remove a model by name.
common::Time PauseTime() const
Get the amount of time simulation has been paused.
void SetGravity(const ignition::math::Vector3d &_gravity)
Set the gravity vector.
boost::shared_ptr< SphericalCoordinates > SphericalCoordinatesPtr
Definition: CommonTypes.hh:121
std::vector< ModelPtr > Model_V
Definition: PhysicsTypes.hh:205
boost::shared_ptr< Light > LightPtr
Definition: PhysicsTypes.hh:105
boost::shared_ptr< PhysicsEngine > PhysicsEnginePtr
Definition: PhysicsTypes.hh:125
boost::shared_ptr< Actor > ActorPtr
Definition: PhysicsTypes.hh:97
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
std::vector< LightPtr > Light_V
Definition: PhysicsTypes.hh:221
boost::shared_ptr< PresetManager > PresetManagerPtr
Definition: PhysicsTypes.hh:129
boost::shared_ptr< Entity > EntityPtr
Definition: PhysicsTypes.hh:85
boost::shared_ptr< Road > RoadPtr
Definition: PhysicsTypes.hh:161
boost::shared_ptr< Model > ModelPtr
Definition: PhysicsTypes.hh:93
Forward declarations for the common classes.
Definition: Animation.hh:27