662 lines
25 KiB
C++
662 lines
25 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef GAZEBO_MSGS_MSGS_HH_
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#define GAZEBO_MSGS_MSGS_HH_
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#include <string>
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#include <sdf/sdf.hh>
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#include <ignition/math/Inertial.hh>
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#include <ignition/math/MassMatrix3.hh>
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#include <ignition/math/Plane.hh>
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#include <ignition/math/Pose3.hh>
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#include <ignition/math/Vector3.hh>
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#include "gazebo/math/Quaternion.hh"
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#include "gazebo/msgs/MessageTypes.hh"
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// Remove gazebo/math includes in Gazebo8
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// Adding the word deprecation so that a grep will find this.
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#include "gazebo/math/MathTypes.hh"
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/math/Pose.hh"
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#include "gazebo/math/Plane.hh"
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#include "gazebo/common/SphericalCoordinates.hh"
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#include "gazebo/common/Color.hh"
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#include "gazebo/common/Time.hh"
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#include "gazebo/common/Image.hh"
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namespace gazebo
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{
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/// \ingroup gazebo_msgs Messages
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/// \brief Messages namespace
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namespace msgs
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{
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/// \addtogroup gazebo_msgs Messages
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/// \brief All messages and helper functions
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/// \{
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/// \brief Create a request message
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/// \param[in] _request Request string
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/// \param[in] _data Optional data string
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/// \return A Request message
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GAZEBO_VISIBLE
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msgs::Request *CreateRequest(const std::string &_request,
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const std::string &_data = "");
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/// \brief Initialize a message
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/// \param[in] _message Message to initialize
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/// \param[in] _id Optional string id
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GAZEBO_VISIBLE
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void Init(google::protobuf::Message &_message, const std::string &_id ="");
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/// \brief Time stamp a header
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/// \param[in] _header Header to stamp
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GAZEBO_VISIBLE
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void Stamp(msgs::Header *_header);
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/// \brief Set the time in a time message
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/// \param[in] _time A Time message
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GAZEBO_VISIBLE
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void Stamp(msgs::Time *_time);
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/// \cond
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GAZEBO_VISIBLE
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std::string Package(const std::string &type,
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const google::protobuf::Message &message);
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/// \endcond
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/// \brief Convert a double to a msgs::Any
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/// \param[in] _v The double to convert.
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/// \return A msgs::Any object.
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GAZEBO_VISIBLE
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msgs::Any ConvertAny(const double _v);
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/// \brief Convert an int to a msgs::Any
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/// \param[in] _i The int to convert.
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/// \return A msgs::Any object.
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GAZEBO_VISIBLE
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msgs::Any ConvertAny(const int _i);
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/// \brief Convert a std::string to a msgs::Any
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/// \param[in] _s The string to convert.
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/// \return A msgs::Any object.
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GAZEBO_VISIBLE
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msgs::Any ConvertAny(const std::string &_s);
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/// \brief Convert a string literal to a msgs::Any
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/// \param[in] _s The string to convert.
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/// \return A msgs::Any object.
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GAZEBO_VISIBLE
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msgs::Any ConvertAny(const char *_s);
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/// \brief Convert a bool to a msgs::Any
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/// \param[in] _b The bool to convert.
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/// \return A msgs::Any object.
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GAZEBO_VISIBLE
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msgs::Any ConvertAny(const bool _b);
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/// \brief Convert an ignition::math::Vector3d to a msgs::Any
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/// \param[in] _v The vector to convert.
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/// \return A msgs::Any object.
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GAZEBO_VISIBLE
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msgs::Any ConvertAny(const ignition::math::Vector3d &_v);
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/// \brief Convert a common::Color to a msgs::Any
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/// \param[in] _c The color to convert.
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/// \return A msgs::Any object.
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GAZEBO_VISIBLE
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msgs::Any ConvertAny(const common::Color &_c);
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/// \brief Convert an ignition::math::Pose3d to a msgs::Any
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/// \param[in] _p The pose to convert.
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/// \return A msgs::Any object.
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GAZEBO_VISIBLE
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msgs::Any ConvertAny(const ignition::math::Pose3d &_p);
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/// \brief Convert an ignition::math::Quaternion to a msgs::Any
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/// \param[in] _q The quaternion to convert.
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/// \return A msgs::Any object.
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GAZEBO_VISIBLE
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msgs::Any ConvertAny(const ignition::math::Quaterniond &_q);
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/// \brief Convert a common::Time to a msgs::Any
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/// \param[in] _t The time to convert.
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/// \return A msgs::Any object.
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GAZEBO_VISIBLE
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msgs::Any ConvertAny(const common::Time &_t);
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/// \brief Convert a ignition::math::Vector3 to a msgs::Vector3d
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/// \param[in] _v The vector to convert
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/// \return A msgs::Vector3d object
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GAZEBO_VISIBLE
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msgs::Vector3d Convert(const ignition::math::Vector3d &_v);
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/// \brief Convert a ignition::math::Vector2d to a msgs::Vector2d
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/// \param[in] _v The vector to convert
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/// \return A msgs::Vector2d object
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GAZEBO_VISIBLE
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msgs::Vector2d Convert(const ignition::math::Vector2d &_v);
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/// \brief Convert a ignition::math::Quaternion to a msgs::Quaternion
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/// \param[in] _q The quaternion to convert
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/// \return A msgs::Quaternion object
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GAZEBO_VISIBLE
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msgs::Quaternion Convert(const ignition::math::Quaterniond &_q);
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/// \brief Convert a ignition::math::Pose to a msgs::Pose
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/// \param[in] _p The pose to convert
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/// \return A msgs::Pose object
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GAZEBO_VISIBLE
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msgs::Pose Convert(const ignition::math::Pose3d &_p);
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/// \brief Convert a common::Color to a msgs::Color
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/// \param[in] _c The color to convert
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/// \return A msgs::Color object
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GAZEBO_VISIBLE
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msgs::Color Convert(const common::Color &_c);
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/// \brief Convert a common::Time to a msgs::Time
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/// \param[in] _t The time to convert
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/// \return A msgs::Time object
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GAZEBO_VISIBLE
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msgs::Time Convert(const common::Time &_t);
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/// \brief Convert an ignition::math::Inertiald to a msgs::Inertial
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/// \param[in] _i The Inertiald to convert
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/// \return A msgs::Inertial object
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GAZEBO_VISIBLE
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msgs::Inertial Convert(const ignition::math::Inertiald &_i);
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/// \brief Convert an ignition::math::MassMatrix3d to a msgs::Inertial
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/// \param[in] _m The MassMatrix3d to convert
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/// \return A msgs::Inertial object
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GAZEBO_VISIBLE
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msgs::Inertial Convert(const ignition::math::MassMatrix3d &_m);
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/// \brief Convert a ignition::math::Planed to a msgs::PlaneGeom
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/// \param[in] _p The plane to convert
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/// \return A msgs::PlaneGeom object
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GAZEBO_VISIBLE
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msgs::PlaneGeom Convert(const ignition::math::Planed &_p);
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/// \brief Convert a string to a msgs::Joint::Type enum.
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/// \param[in] _str Joint type string.
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/// \return A msgs::Joint::Type enum. Defaults to REVOLUTE
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/// if _str is unrecognized.
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GAZEBO_VISIBLE
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msgs::Joint::Type ConvertJointType(const std::string &_str);
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/// \brief Convert a msgs::Joint::Type to a string.
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/// \param[in] _type A msgs::Joint::Type enum.
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/// \return Joint type string. Returns "unknown" if
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/// _type is unrecognized.
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GAZEBO_VISIBLE
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std::string ConvertJointType(const msgs::Joint::Type &_type);
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/// \brief Convert a string to a msgs::Geometry::Type enum.
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/// \param[in] _str Geometry type string.
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/// \return A msgs::Geometry::Type enum.
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GAZEBO_VISIBLE
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msgs::Geometry::Type ConvertGeometryType(const std::string &_str);
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/// \brief Convert a msgs::Geometry::Type to a string.
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/// \param[in] _type A msgs::Geometry::Type enum.
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/// \return Geometry type string.
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GAZEBO_VISIBLE
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std::string ConvertGeometryType(const msgs::Geometry::Type _type);
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/// \brief Convert a msgs::Vector3d to an ignition::math::Vector
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/// \param[in] _v The plane to convert
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/// \return An ignition::math::Vector3 object
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GAZEBO_VISIBLE
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ignition::math::Vector3d ConvertIgn(const msgs::Vector3d &_v);
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/// \brief Convert a msgs::Vector2d to an ignition::math::Vector2d
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/// \param[in] _v The vector2 to convert
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/// \return An ignition::math::Vector2d object
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GAZEBO_VISIBLE
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ignition::math::Vector2d ConvertIgn(const msgs::Vector2d &_v);
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/// \brief Convert a msgs::Quaternion to an ignition::math::Quaternion
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/// \param[in] _q The quaternion to convert
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/// \return An ignition::math::Quaternion object
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GAZEBO_VISIBLE
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ignition::math::Quaterniond ConvertIgn(const msgs::Quaternion &_q);
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/// \brief Convert a msgs::Pose to an ignition::math::Pose
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/// \param[in] _p The pose to convert
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/// \return An ignition::math::Pose object
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GAZEBO_VISIBLE
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ignition::math::Pose3d ConvertIgn(const msgs::Pose &_p);
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/// \brief Convert a msgs::Inertial to an ignition::math::Inertiald
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/// \param[in] _i The inertial to convert
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/// \return An ignition::math::Inertiald object
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GAZEBO_VISIBLE
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ignition::math::Inertiald Convert(const msgs::Inertial &_i);
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/// \brief Convert a msgs::Image to a common::Image
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/// \param[out] _img The common::Image container
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/// \param[in] _msg The Image message to convert
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GAZEBO_VISIBLE
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void Set(common::Image &_img, const msgs::Image &_msg);
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/// \brief Convert a msgs::Color to a common::Color
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/// \param[in] _c The color to convert
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/// \return A common::Color object
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GAZEBO_VISIBLE
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common::Color Convert(const msgs::Color &_c);
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/// \brief Convert a msgs::Time to a common::Time
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/// \param[in] _t The time to convert
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/// \return A common::Time object
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GAZEBO_VISIBLE
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common::Time Convert(const msgs::Time &_t);
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/// \brief Convert a msgs::PlaneGeom to an ignition::math::Planed
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/// \param[in] _p The plane to convert
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/// \return An ignition::math::Planed object
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GAZEBO_VISIBLE
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ignition::math::Planed ConvertIgn(const msgs::PlaneGeom &_p);
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/// \brief Set a msgs::Image from a common::Image
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/// \param[out] _msg A msgs::Image pointer
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/// \param[in] _i A common::Image reference
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GAZEBO_VISIBLE
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void Set(msgs::Image *_msg, const common::Image &_i);
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/// \brief Set a msgs::Vector3d from an ignition::math::Vector3d
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/// \param[out] _pt A msgs::Vector3d pointer
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/// \param[in] _v An ignition::math::Vector3d reference
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GAZEBO_VISIBLE
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void Set(msgs::Vector3d *_pt, const ignition::math::Vector3d &_v);
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/// \brief Set a msgs::Vector2d from an ignition::math::Vector2d
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/// \param[out] _pt A msgs::Vector2d pointer
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/// \param[in] _v An ignition::math::Vector2d reference
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GAZEBO_VISIBLE
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void Set(msgs::Vector2d *_pt, const ignition::math::Vector2d &_v);
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/// \brief Set a msgs::Quaternion from an ignition::math::Quaterniond
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/// \param[out] _q A msgs::Quaternion pointer
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/// \param[in] _v An ignition::math::Quaterniond reference
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GAZEBO_VISIBLE
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void Set(msgs::Quaternion *_q, const ignition::math::Quaterniond &_v);
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/// \brief Set a msgs::Pose from an ignition::math::Pose3d
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/// \param[out] _p A msgs::Pose pointer
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/// \param[in] _v An ignition::math::Pose3d reference
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GAZEBO_VISIBLE
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void Set(msgs::Pose *_p, const ignition::math::Pose3d &_v);
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/// \brief Set a msgs::Color from a common::Color
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/// \param[out] _p A msgs::Color pointer
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/// \param[in] _v A common::Color reference
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GAZEBO_VISIBLE
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void Set(msgs::Color *_c, const common::Color &_v);
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/// \brief Set a msgs::Time from a common::Time
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/// \param[out] _p A msgs::Time pointer
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/// \param[in] _v A common::Time reference
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GAZEBO_VISIBLE
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void Set(msgs::Time *_t, const common::Time &_v);
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/// \brief Set a msgs::SphericalCoordinates from
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/// a common::SphericalCoordinates object.
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/// \param[out] _p A msgs::SphericalCoordinates pointer.
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/// \param[in] _v A common::SphericalCoordinates reference
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GAZEBO_VISIBLE
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void Set(msgs::SphericalCoordinates *_s,
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const common::SphericalCoordinates &_v);
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/// \brief Set a msgs::Inertial from an ignition::math::Inertiald
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/// \param[out] _i A msgs::Inertial pointer
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/// \param[in] _m An ignition::math::Inertiald reference
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GAZEBO_VISIBLE
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void Set(msgs::Inertial *_i, const ignition::math::Inertiald &_m);
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/// \brief Set a msgs::Inertial from an ignition::math::MassMatrix3d
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/// \param[out] _i A msgs::Inertial pointer
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/// \param[in] _m An ignition::math::MassMatrix3d reference
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GAZEBO_VISIBLE
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void Set(msgs::Inertial *_i, const ignition::math::MassMatrix3d &_m);
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/// \brief Set a msgs::Plane from an ignition::math::Planed
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/// \param[out] _p A msgs::Plane pointer
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/// \param[in] _v An ignition::math::Planed reference
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GAZEBO_VISIBLE
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void Set(msgs::PlaneGeom *_p, const ignition::math::Planed &_v);
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/// \brief Create a msgs::TrackVisual from a track visual SDF element
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/// \param[in] _sdf The sdf element
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/// \return The new msgs::TrackVisual object
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GAZEBO_VISIBLE
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msgs::TrackVisual TrackVisualFromSDF(sdf::ElementPtr _sdf);
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/// \brief Create a msgs::GUI from a GUI SDF element
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/// \param[in] _sdf The sdf element
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/// \return The new msgs::GUI object
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GAZEBO_VISIBLE
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msgs::GUI GUIFromSDF(sdf::ElementPtr _sdf);
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/// \brief Create a msgs::Light from a light SDF element
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/// \param[in] _sdf The sdf element
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/// \return The new msgs::Light object
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GAZEBO_VISIBLE
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msgs::Light LightFromSDF(sdf::ElementPtr _sdf);
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/// \brief Create a msgs::MeshGeom from a mesh SDF element
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/// \param[in] _sdf The sdf element
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/// \return The new msgs::MeshGeom object
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GAZEBO_VISIBLE
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msgs::MeshGeom MeshFromSDF(sdf::ElementPtr _sdf);
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/// \brief Create a msgs::Geometry from a geometry SDF element
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/// \param[in] _sdf The sdf element
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/// \return The new msgs::Geometry object
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GAZEBO_VISIBLE
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msgs::Geometry GeometryFromSDF(sdf::ElementPtr _sdf);
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/// \brief Create a msgs::Visual from a visual SDF element
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/// \param[in] _sdf The sdf element
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/// \return The new msgs::Visual object
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GAZEBO_VISIBLE
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msgs::Visual VisualFromSDF(sdf::ElementPtr _sdf);
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/// \brief Create a msgs::Collision from a collision SDF element
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/// \param[in] _sdf The sdf element
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/// \return The new msgs::Collision object
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GAZEBO_VISIBLE
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msgs::Collision CollisionFromSDF(sdf::ElementPtr _sdf);
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/// \brief Create a msgs::Surface from a surface SDF element
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/// \param[in] _sdf The sdf element
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/// \return The new msgs::Surface object
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GAZEBO_VISIBLE
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msgs::Surface SurfaceFromSDF(sdf::ElementPtr _sdf);
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/// \brief Create a msgs::Friction from a friction SDF element
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/// \param[in] _sdf The sdf element
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/// \return The new msgs::Friction object
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GAZEBO_VISIBLE
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msgs::Friction FrictionFromSDF(sdf::ElementPtr _sdf);
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/// \brief Create a msgs::Axis from an axis SDF element
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/// \param[in] _sdf The sdf element
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/// \return The new msgs::Axis object
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GAZEBO_VISIBLE
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msgs::Axis AxisFromSDF(sdf::ElementPtr _sdf);
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/// \brief Create a msgs::Joint from a joint SDF element
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/// \param[in] _sdf The sdf element
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/// \return The new msgs::Joint object
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GAZEBO_VISIBLE
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msgs::Joint JointFromSDF(sdf::ElementPtr _sdf);
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/// \brief Create a msgs::Plugin from a plugin SDF element
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/// \param[in] _sdf The sdf element
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/// \return The new msgs::Plugin object
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GAZEBO_VISIBLE
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msgs::Plugin PluginFromSDF(const sdf::ElementPtr _sdf);
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/// \brief Create or update an SDF element from a msgs::Visual
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/// \param[in] _msg Visual messsage
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/// \param[in] _sdf if supplied, performs an update from _msg instead of
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/// creating a new sdf element.
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/// \return The new SDF element.
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GAZEBO_VISIBLE
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sdf::ElementPtr VisualToSDF(const msgs::Visual &_msg,
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sdf::ElementPtr _sdf = sdf::ElementPtr());
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/// \brief Create or update an SDF element from a msgs::Material
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/// If _sdf is supplied and _msg has script uri's
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/// the <uri> elements will be removed from _sdf.
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/// \param[in] _msg Material messsage
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/// \param[in] _sdf if supplied, performs an update from _msg instead of
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/// creating a new sdf element.
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/// \return The new SDF element.
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GAZEBO_VISIBLE
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sdf::ElementPtr MaterialToSDF(const msgs::Material &_msg,
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sdf::ElementPtr _sdf = sdf::ElementPtr());
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/// \brief Convert a string to a msgs::Material::ShaderType enum.
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/// \param[in] _str Shader type string.
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/// \return A msgs::Material::ShaderType enum. Defaults to VERTEX
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/// if _str is unrecognized.
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GAZEBO_VISIBLE
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msgs::Material::ShaderType ConvertShaderType(const std::string &_str);
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/// \brief Convert a msgs::ShaderType to a string.
|
|
/// \param[in] _type A msgs::ShaderType enum.
|
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/// \return Shader type string. Returns "unknown" if
|
|
/// _type is unrecognized.
|
|
GAZEBO_VISIBLE
|
|
std::string ConvertShaderType(const msgs::Material::ShaderType &_type);
|
|
|
|
/// \brief Create a msgs::Fog from a fog SDF element
|
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/// \param[in] _sdf The sdf element
|
|
/// \return The new msgs::Fog object
|
|
GAZEBO_VISIBLE
|
|
msgs::Fog FogFromSDF(sdf::ElementPtr _sdf);
|
|
|
|
/// \brief Create a msgs::Scene from a scene SDF element
|
|
/// \param[in] _sdf The sdf element
|
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/// \return The new msgs::Scene object
|
|
GAZEBO_VISIBLE
|
|
msgs::Scene SceneFromSDF(sdf::ElementPtr _sdf);
|
|
|
|
/// \brief Create a msgs::Sensor from a sensor SDF element
|
|
/// \param[in] _sdf The sensor sdf element
|
|
/// \return The new msgs::Sensor object
|
|
/// \sa CameraSensorFromSDF
|
|
/// \sa RaySensorFromSDF
|
|
/// \sa ContactSensorFromSDF
|
|
GAZEBO_VISIBLE
|
|
msgs::Sensor SensorFromSDF(sdf::ElementPtr _sdf);
|
|
|
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/// \brief Create a msgs::CameraSensor from a camera sensor SDF element
|
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/// \param[in] _sdf The camera sensor sdf element
|
|
/// \return The new msgs::CameraSensor object
|
|
/// \sa SensorFromSDF
|
|
GAZEBO_VISIBLE
|
|
msgs::CameraSensor CameraSensorFromSDF(sdf::ElementPtr _sdf);
|
|
|
|
/// \brief Create a msgs::RaySensor from a ray sensor SDF element
|
|
/// \param[in] _sdf The ray sensor sdf element
|
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/// \return The new msgs::RaySensor object
|
|
/// \sa SensorFromSDF
|
|
GAZEBO_VISIBLE
|
|
msgs::RaySensor RaySensorFromSDF(sdf::ElementPtr _sdf);
|
|
|
|
/// \brief Create a msgs::ContactSensor from a contact sensor SDF element
|
|
/// \param[in] _sdf The contact sensor sdf element
|
|
/// \return The new msgs::ContactSensor object
|
|
/// \sa SensorFromSDF
|
|
GAZEBO_VISIBLE
|
|
msgs::ContactSensor ContactSensorFromSDF(sdf::ElementPtr _sdf);
|
|
|
|
/// \brief Create or update an SDF element from a msgs::Light
|
|
/// \param[in] _msg Light messsage
|
|
/// \param[in] _sdf if supplied, performs an update from _msg instead of
|
|
/// creating a new sdf element.
|
|
/// \return The new SDF element.
|
|
GAZEBO_VISIBLE
|
|
sdf::ElementPtr LightToSDF(const msgs::Light &_msg,
|
|
sdf::ElementPtr _sdf = sdf::ElementPtr());
|
|
|
|
/// \brief Create or update an SDF element from a msgs::CameraSensor
|
|
/// \param[in] _msg CameraSensor messsage
|
|
/// \param[in] _sdf if supplied, performs an update from _msg instead of
|
|
/// creating a new sdf element.
|
|
/// \return The new SDF element.
|
|
GAZEBO_VISIBLE
|
|
sdf::ElementPtr CameraSensorToSDF(const msgs::CameraSensor &_msg,
|
|
sdf::ElementPtr _sdf = sdf::ElementPtr());
|
|
|
|
/// \brief Create or update an SDF element from a msgs::Plugin
|
|
/// \param[in] _msg Plugin messsage
|
|
/// \param[in] _sdf if supplied, performs an update from _msg instead of
|
|
/// creating a new sdf element.
|
|
/// \return The new SDF element.
|
|
GAZEBO_VISIBLE
|
|
sdf::ElementPtr PluginToSDF(const msgs::Plugin &_plugin,
|
|
sdf::ElementPtr _sdf = sdf::ElementPtr());
|
|
|
|
/// \brief Create or update an SDF element from a msgs::Collision
|
|
/// \param[in] _msg Collision messsage
|
|
/// \param[in] _sdf if supplied, performs an update from _msg instead of
|
|
/// creating a new sdf element.
|
|
/// \return The new SDF element.
|
|
GAZEBO_VISIBLE
|
|
sdf::ElementPtr CollisionToSDF(const msgs::Collision &_msg,
|
|
sdf::ElementPtr _sdf = sdf::ElementPtr());
|
|
|
|
/// \brief Create or update an SDF element from a msgs::Link.
|
|
/// If _sdf is supplied and _msg has any collisions or visuals,
|
|
/// the <collision> and <visual> elements will be removed from _sdf.
|
|
/// \param[in] _msg Link messsage
|
|
/// \param[in] _sdf if supplied, performs an update from _msg instead of
|
|
/// creating a new sdf element.
|
|
/// \return The new SDF element.
|
|
GAZEBO_VISIBLE
|
|
sdf::ElementPtr LinkToSDF(const msgs::Link &_msg,
|
|
sdf::ElementPtr _sdf = sdf::ElementPtr());
|
|
|
|
/// \brief Create or update an SDF element from a msgs::Inertial
|
|
/// \param[in] _msg Inertial messsage
|
|
/// \param[in] _sdf if supplied, performs an update from _msg instead of
|
|
/// creating a new sdf element.
|
|
/// \return The new SDF element.
|
|
GAZEBO_VISIBLE
|
|
sdf::ElementPtr InertialToSDF(const msgs::Inertial &_msg,
|
|
sdf::ElementPtr _sdf = sdf::ElementPtr());
|
|
|
|
/// \brief Create or update an SDF element from a msgs::Surface
|
|
/// \param[in] _msg Surface messsage
|
|
/// \param[in] _sdf if supplied, performs an update from _msg instead of
|
|
/// creating a new sdf element.
|
|
/// \return The new SDF element.
|
|
GAZEBO_VISIBLE
|
|
sdf::ElementPtr SurfaceToSDF(const msgs::Surface &_msg,
|
|
sdf::ElementPtr _sdf = sdf::ElementPtr());
|
|
|
|
/// \brief Create or update an SDF element from a msgs::Geometry
|
|
/// If _sdf is supplied and the _msg has non-empty repeated elements,
|
|
/// any existing sdf elements will be removed from _sdf prior to adding
|
|
/// the new elements from _msg.
|
|
/// \param[in] _msg Geometry messsage
|
|
/// \param[in] _sdf if supplied, performs an update from _msg instead of
|
|
/// creating a new sdf element.
|
|
/// \return The new SDF element.
|
|
GAZEBO_VISIBLE
|
|
sdf::ElementPtr GeometryToSDF(const msgs::Geometry &_msg,
|
|
sdf::ElementPtr _sdf = sdf::ElementPtr());
|
|
|
|
/// \brief Create or update an SDF element from a msgs::Mesh
|
|
/// \param[in] _msg Mesh messsage
|
|
/// \param[in] _sdf if supplied, performs an update from _msg instead of
|
|
/// creating a new sdf element.
|
|
/// \return The new SDF element.
|
|
GAZEBO_VISIBLE
|
|
sdf::ElementPtr MeshToSDF(const msgs::MeshGeom &_msg,
|
|
sdf::ElementPtr _sdf = sdf::ElementPtr());
|
|
|
|
/// \brief Add a simple box link to a Model message.
|
|
/// The size and mass of the box are specified, and a
|
|
/// single collision is added, along with an inertial
|
|
/// block corresponding to a box of uniform density.
|
|
/// \param[out] _model The msgs::Model to which the link is added.
|
|
/// \param[in] _mass Mass of the box.
|
|
/// \param[in] _size Size of the box.
|
|
GAZEBO_VISIBLE
|
|
void AddBoxLink(msgs::Model &_model, const double _mass,
|
|
const ignition::math::Vector3d &_size);
|
|
|
|
/// \brief Add a simple cylinder link to a Model message.
|
|
/// The radius, length, and mass of the cylinder are specified, and a
|
|
/// single collision is added, along with an inertial
|
|
/// block corresponding to a cylinder of uniform density
|
|
/// with an axis of symmetry along the Z axis.
|
|
/// \param[out] _model The msgs::Model to which the link is added.
|
|
/// \param[in] _mass Mass of the cylinder.
|
|
/// \param[in] _radius Radius of the cylinder.
|
|
/// \param[in] _length Length of the cylinder.
|
|
GAZEBO_VISIBLE
|
|
void AddCylinderLink(msgs::Model &_model, const double _mass,
|
|
const double _radius, const double _length);
|
|
|
|
/// \brief Add a simple sphere link to a Model message.
|
|
/// The size and mass of the sphere are specified, and a
|
|
/// single collision is added, along with an inertial
|
|
/// block corresponding to a sphere of uniform density.
|
|
/// \param[out] _model The msgs::Model to which the link is added.
|
|
/// \param[in] _mass Mass of the sphere.
|
|
/// \param[in] _radius Radius of the sphere.
|
|
GAZEBO_VISIBLE
|
|
void AddSphereLink(msgs::Model &_model, const double _mass,
|
|
const double _radius);
|
|
|
|
/// \brief Add a link with a collision and visual
|
|
/// of specified geometry to a model message.
|
|
/// It does not set any inertial values.
|
|
/// \param[out] _model The msgs::Model object to receive a new link.
|
|
/// \param[in] _geom Geometry to be added to collision and visual.
|
|
GAZEBO_VISIBLE
|
|
void AddLinkGeom(Model &_msg, const Geometry &_geom);
|
|
|
|
/// \brief Create or update an SDF element from msgs::Model.
|
|
/// If _sdf is supplied and _msg has any links or joints,
|
|
/// the <link> and <joint> elements will be removed from _sdf.
|
|
/// \param[in] _msg The msgs::Model object.
|
|
/// \param[in] _sdf if supplied, performs an update from _sdf instead of
|
|
/// creating a new sdf element.
|
|
/// \return The new SDF element.
|
|
GAZEBO_VISIBLE
|
|
sdf::ElementPtr ModelToSDF(const msgs::Model &_msg,
|
|
sdf::ElementPtr _sdf = sdf::ElementPtr());
|
|
|
|
/// \brief Create or update an SDF element from msgs::Joint.
|
|
/// \param[in] _msg The msgs::Joint object.
|
|
/// \param[in] _sdf if supplied, performs an update from _sdf instead of
|
|
/// creating a new sdf element.
|
|
/// \return The new SDF element.
|
|
GAZEBO_VISIBLE
|
|
sdf::ElementPtr JointToSDF(const msgs::Joint &_msg,
|
|
sdf::ElementPtr _sdf = sdf::ElementPtr());
|
|
|
|
/// \cond
|
|
GAZEBO_VISIBLE
|
|
const google::protobuf::FieldDescriptor *GetFD(
|
|
google::protobuf::Message &message, const std::string &name);
|
|
/// \endcond
|
|
|
|
/// \brief Get the header from a protobuf message
|
|
/// \param[in] _message A google protobuf message
|
|
/// \return A pointer to the message's header
|
|
GAZEBO_VISIBLE
|
|
msgs::Header *GetHeader(google::protobuf::Message &_message);
|
|
|
|
/// \}
|
|
}
|
|
}
|
|
|
|
#endif
|