#include <model.h>

Inheritance diagram for flatland_server::Model:

Collaboration diagram for flatland_server::Model:

[legend]

Public Member Functions
	Model (b2World physics_world, CollisionFilterRegistry cfr, const std::string &ns, const std::string &name)
	Constructor for the model. More...

	~Model ()
	Destructor for the layer class.

EntityType	Type () const
	Return the type of entity. More...

void	LoadBodies (YamlReader &bodies_reader)
	load bodies to this model, throws exceptions upon failure More...

void	LoadJoints (YamlReader &joints_reader)
	load joints to this model, throws exceptions upon failure More...

ModelBody *	GetBody (const std::string &name)
	Get a body in the model using its name. More...

Joint *	GetJoint (const std::string &name)
	Get a body in the model using its name. More...

const std::vector< ModelBody * > &	GetBodies ()

const std::vector< Joint * > &	GetJoints ()

const std::string &	GetNameSpace () const

std::string	NameSpaceTF (const std::string &frame_id) const

std::string	NameSpaceTopic (const std::string &topic) const

const std::string &	GetName () const

const CollisionFilterRegistry *	GetCfr () const

void	DebugVisualize () const override
	Publish debug visualizations for model.

void	DebugOutput () const override
	log debug messages for the layer

void	DumpBox2D () const
	Dump box2d data for debugging.

void	TransformAll (const Pose &pose_delta)
	transform all bodies in the model More...

void	SetPose (const Pose &pose)
	Explicitly set the model pose in world coordinates. More...

Public Member Functions inherited from flatland_server::Entity
	Entity (b2World *physics_world, const std::string &name)
	Constructor for the entity. More...

const std::string &	GetName () const

b2World *	GetPhysicsWorld ()
	Get Box2D physics world. More...

	Entity (const Entity &)=delete

Entity &	operator= (const Entity &)=delete

Static Public Member Functions
static Model *	MakeModel (b2World physics_world, CollisionFilterRegistry cfr, const std::string &model_yaml_path, const std::string &ns, const std::string &name)
	Create a model, throws exceptions upon failure. More...

Public Attributes
std::string	namespace_
	namespace of the model

std::vector< ModelBody * >	bodies_
	list of bodies in the model

std::vector< Joint * >	joints_
	list of joints in the model

YamlReader	plugins_reader_
	for storing plugins when paring YAML

CollisionFilterRegistry *	cfr_
	Collision filter registry.

std::string	viz_name_
	used for visualization

Public Attributes inherited from flatland_server::Entity
b2World *	physics_world_
	Box2D physics world.

std::string	name_
	name of the entity

Additional Inherited Members
Public Types inherited from flatland_server::Entity
enum	EntityType { LAYER, MODEL }
	Defines the type of entity.

Detailed Description

This class defines a Model. It can be used to repsent any object in the environment such robots, chairs, deskes etc.

Constructor & Destructor Documentation

flatland_server::Model::Model	(	b2World *	physics_world,
		CollisionFilterRegistry *	cfr,
		const std::string &	ns,
		const std::string &	name
	)

Constructor for the model.

Parameters

[in]	physics_world	Box2D physics world
[in]	cfr	Collision filter registry
[in]	name	Name of the model

Member Function Documentation

const std::vector< ModelBody * > & flatland_server::Model::GetBodies ( )

Returns: List of bodies the model has

ModelBody * flatland_server::Model::GetBody ( const std::string & name )

Get a body in the model using its name.

Parameters

[in] name Name of the body

Returns: pointer to the body, nullptr indicates body cannot be found

const CollisionFilterRegistry * flatland_server::Model::GetCfr ( ) const

Returns: The collision filter registrar

Joint * flatland_server::Model::GetJoint ( const std::string & name )

Get a body in the model using its name.

Parameters

[in] name Name of the joint

Returns: pointer to the joint, nullptr if the joint does not exist

const std::vector< Joint * > & flatland_server::Model::GetJoints ( )

Returns: List of joints the model has

const std::string & flatland_server::Model::GetName ( ) const

Returns: The name of the model

const std::string & flatland_server::Model::GetNameSpace ( ) const

Returns: The namespace of the model

void flatland_server::Model::LoadBodies ( YamlReader & bodies_reader )

load bodies to this model, throws exceptions upon failure

Parameters

[in] bodies_reader YAML reader for node containing the list of bodies

void flatland_server::Model::LoadJoints ( YamlReader & joints_reader )

load joints to this model, throws exceptions upon failure

Parameters

[in] joints_reader YAML reader for node containing the list of joints

Model * flatland_server::Model::MakeModel	(	b2World *	physics_world,
		CollisionFilterRegistry *	cfr,
		const std::string &	model_yaml_path,
		const std::string &	ns,
		const std::string &	name
	)

static

Create a model, throws exceptions upon failure.

Parameters

[in]	physics_world	Box2D physics world
[in]	cfr	Collision filter registry
[in]	model_yaml_path	Absolute path to the model yaml file
[in]	ns	Namespace of the robot
[in]	name	Name of the model

Returns: A new model

std::string flatland_server::Model::NameSpaceTF ( const std::string & frame_id ) const

Returns: prepend the tf with namespace_

std::string flatland_server::Model::NameSpaceTopic ( const std::string & topic ) const

Returns: prepend the topic with namespace/

void flatland_server::Model::SetPose ( const Pose & pose )

Explicitly set the model pose in world coordinates.

Parameters

[in] pose world x, world y, world yaw

void flatland_server::Model::TransformAll ( const Pose & pose_delta )

transform all bodies in the model

Parameters

[in] pose_delta dx, dy, dyaw

EntityType flatland_server::Model::Type ( ) const

inlinevirtual

Return the type of entity.

Returns: Model type

Implements flatland_server::Entity.

The documentation for this class was generated from the following files:

flatland_server/include/flatland_server/model.h
flatland_server/src/model.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation