gazebo::WorldServer Class Reference

Inheritance diagram for gazebo::WorldServer:

Public Member Functions
virtual void	ExtraInitializationInLoad (physics::WorldPtr _parent, sdf::ElementPtr _sdf)
	This function will be called in Load() to perform extra initialization.
LibraryTemplate *	DynamicallyLoadedLibrary (const char *library_path, void *lib_handle)
	Load a shared library in linux.
void	CloseLoadedLibrary (void **lib_handle)
	Close the loaded libraries.
virtual void	OnSystemRunningExtra (const common::UpdateInfo &_info)
virtual void	InsertModel (string name, math::Pose position, string joint_angles)
	Insert a model to the current world. More...
virtual void	InsertModel (string name, math::Pose position, string joint_angles, string model_path)
	Insert a model to the current world. More...
void	AddInitialPosition (math::Pose position)
	Add a new position to set at the end of 'intialPosition' vector.
void	AddInitialJoints (string joint_angles)
	Add new initial joint values to set at the end of 'initalJointValue' vector.
void	DeleteSmoresmodulePtr (string module_name)
	Delete the smoresmodule object in the world. More...
void	DeleteModule (string module_name)
	Delete a model that already in the world. More...
void	DeleteAllModules (void)
	Delete all models that already in the world.
math::Vector3	GetCurrentConfigurationPose (void)
	Get the current position in world of the inserted configuration. More...
void	BuildConfigurationFromXML (string file_name)
	Build a configuration at origin using a XML file.
void	BuildConfigurationFromXML (string file_name, math::Vector3 initial_pose)
	Build a configuration at given initial_pose using a XML file.
void	BuildConnectionFromXML (string file_name)
	This function is used to build connection using a XML file.
virtual void	ExtraWorkWhenModelInserted (CommandMessagePtr &msg)
	This function will be called after set the model initial position.
double	ConversionForAngleOverPi (double angle)
	Convert angles so that their absolutely value always smaller than Pi.
void	EnableAutoMagneticConnection (void)
void	PassiveConnect (SmoresModulePtr module_1, SmoresModulePtr module_2, int node1_ID, int node2_ID, double node_angle, double node_distance)
	Connect two modules by pointers and node_ID.
void	PassiveConnect (SmoresModulePtr module_1, SmoresModulePtr module_2, int node1_ID, int node2_ID)
	With default angle and distance offset equal to 0.
void	ActiveConnect (SmoresModulePtr module_1, SmoresModulePtr module_2, int node1_ID, int node2_ID, double node_angle, double node_distance)
	TODO: Need add 'active' feature to this function.
void	ActiveConnect (SmoresModulePtr module_1, SmoresModulePtr module_2, int node1_ID, int node2_ID)
	With default angle and distance offset equal to 0.
void	Disconnect (SmoresEdgePtr aEdge)
void	Disconnect (SmoresModulePtr aModule, int node_ID)
	Disconnect two module base on one module and one node of that module.
void	Disconnect (string moduleName, int node_ID)
	Disconnect two module base on one module and one node of that module.
void	Disconnect (string moduleName1, string moduleName2)
	Disconnect two module base on their names.
void	SendGaitTable (SmoresModulePtr module, const int *flag, const double *gait_value, int msg_type, unsigned int time_stamp, string condition_str, string dependency_str)
	Send time based common gait with condition and dependency. More...
void	SendGaitTable (SmoresModulePtr module, const int *flag, const double *gait_value, int msg_type, unsigned int time_stamp)
	Send time based common gait without condition and dependency. More...
void	SendGaitTable (SmoresModulePtr module, const int *flag, const double *gait_value, int msg_type, string condition_str, string dependency_str)
	Send common gait with condition and dependency. More...
void	SendGaitTable (SmoresModulePtr module, const int *flag, const double *gait_value, int msg_type)
	Send common gait without condition and dependency. More...
void	SendGaitTable (SmoresModulePtr module, int joint_ID, double gait_value, int msg_type, unsigned int time_stamp, string condition_str, string dependency_str)
	Send gait table to change a single joint of a module. More...
void	SendGaitTable (SmoresModulePtr module, int joint_ID, double gait_value, int msg_type, unsigned int time_stamp)
	Send gait table to change a single joint of a module. More...
void	SendGaitTable (SmoresModulePtr module, int joint_ID, double gait_value, int msg_type, string condition_str, string dependency_str)
	Send gait table to change a single joint of a module. More...
void	SendGaitTable (SmoresModulePtr module, int joint_ID, double gait_value, int msg_type)
	Send gait table to change a single joint of a module. More...
void	SendGaitTable (SmoresModulePtr module, string module1, string module2, int node1, int node2, int commandtype, unsigned int time_stamp, string condition_str, string dependency_str)
void	SendGaitTable (SmoresModulePtr module, string module1, string module2, int node1, int node2, int commandtype, unsigned int time_stamp)
void	SendGaitTable (SmoresModulePtr module, string module1, string module2, int node1, int node2, int commandtype, string condition_str, string dependency_str)
void	SendGaitTable (SmoresModulePtr module, string module1, string module2, int node1, int node2, int commandtype)
void	SendGaitTableInstance (SmoresModulePtr module, const int *flag, const double *gait_value, int msg_type)
	Used in the direct driving situation, ignore execution order. More...
void	SendGaitTableInstance (SmoresModulePtr module, const int *flag, const double *gait_value)
	Used in the direct driving situation with default type 4. More...
void	SendPositionInstance (SmoresModulePtr module, double x, double y, double orientation_angle)
	Used in direct control, dirve a module to a specific position. More...
void	EraseComaands (SmoresModulePtr module)
void	DynamicJointDestroy (SmoresEdgePtr aEdge)
void	ReBuildDynamicJoint (SmoresEdgePtr a_edge)
	Rebuild the dynamic joint using the information in the edge object.
int	GetNodeIDByName (string node_name)
bool	CheckModuleExistByName (string module_name)
	Get return true if the smores module with given name exist in the world.
SmoresModulePtr	GetModulePtrByName (string module_name)
	Get SmoresModule object by specifying the name. More...
SmoresModulePtr	GetModulePtrByIDX (unsigned int idx)
	Get SmoresModule object by specifying the index in the vector moduleList.
unsigned int	GetModuleListSize (void)
	Get the count of the modules that are in the list.
void	EraseCommandPtrByModule (SmoresModulePtr module_ptr)
int	GetModuleIndexByName (string module_name)
bool	AlreadyConnected (SmoresModulePtr module_1, SmoresModulePtr module_2, int node1_ID, int node2_ID)
	Check whether two nodes are connected together.
bool	AlreadyConnected (SmoresModulePtr module_1, SmoresModulePtr module_2)
	Check whether two modules have already connected on a node.
bool	AlreadyConnected (SmoresModulePtr module, int node_ID)
	Check whether a node a of module has been occupied.
void	ReadFileAndGenerateCommands (const char *fileName)
	Read a 'gait table' stored in a text file.
void	FigureInterpret (const vector< string > *joints_spec, int *type_flags, double *joint_values)
	Used to interpret the number in gait table. More...
void	InterpretCommonGaitString (string a_command_str)
	Interpret normal command string. More...
void	InterpretSpecialString (string a_command_str)
	Interpret special command. More...
unsigned int	CountModules (SmoresModulePtr module)
	Count how many modules are there in a cluster with the current module. More...
unsigned int	GetInitialJointSequenceSize (void)
	Get the length of the initial joint value setting sequence.
unsigned int	GetEdgeCounts (void)
	Get the total counts of the edges that stored in the program.
SmoresEdgePtr	GetEdgePtrByIDX (unsigned int idx)
	Get SmoresEdge object by specifying the index in the vector connectionEdges.

Public Attributes
physics::WorldPtr	currentWorld

Member Function Documentation

unsigned int gazebo::WorldServer::CountModules

(

SmoresModulePtr

module

)

Count how many modules are there in a cluster with the current module.

Parameters

module

A pointer of SmoresModule object

void gazebo::WorldServer::DeleteModule

(

string

module_name

)

Delete a model that already in the world.

Parameters

module_name

Module name string

void gazebo::WorldServer::DeleteSmoresmodulePtr

(

string

module_name

)

Delete the smoresmodule object in the world.

Parameters

module_name

Module name string

void gazebo::WorldServer::Disconnect

(

SmoresEdgePtr

aEdge

)

Disconnect two modules on one edge TODO: This pointer must point to an element in the vector

void gazebo::WorldServer::DynamicJointDestroy

(

SmoresEdgePtr

aEdge

)

Destroyer of the connection between different modules, which is dynamic joint here

void gazebo::WorldServer::EnableAutoMagneticConnection

(

void

)

Enable auto magnetic connection, all module Have to be called in Load() Default: disabled

void gazebo::WorldServer::EraseComaands

(

SmoresModulePtr

module

)

Erase all the existing commands of a specific module TODO: Need to be tested

void gazebo::WorldServer::FigureInterpret	(	const vector< string > *	joints_spec,
		int *	type_flags,
		double *	joint_values
	)

Used to interpret the number in gait table.

Parameters

joints_spec	String tokens of the joint specs
type_flags	Joint control flag, see SendGaitTable (return)
joint_values	Joint control values (return)

TODO: This is at a very low API level of SGST need to implement all the features in the future

math::Vector3 gazebo::WorldServer::GetCurrentConfigurationPose

(

void

)

Get the current position in world of the inserted configuration.

Averaging the pose of all modules return

SmoresModulePtr gazebo::WorldServer::GetModulePtrByName

(

string

module_name

)

Get SmoresModule object by specifying the name.

Parameters

module_name

Module name string

Returns

A pointer of SmoresModule object

void gazebo::WorldServer::InsertModel ( string  name, math::Pose  position, string  joint_angles  )

virtual

Insert a model to the current world.

With joint angles specified

Reimplemented in gazebo::ConfigEditor.

void gazebo::WorldServer::InsertModel ( string  name, math::Pose  position, string  joint_angles, string  model_path  )

virtual

Insert a model to the current world.

With joint angles and model path specified

Reimplemented in gazebo::ConfigEditor.

void gazebo::WorldServer::InterpretCommonGaitString

(

string

a_command_str

)

Interpret normal command string.

Parameters

a_command_str

A command string

void gazebo::WorldServer::InterpretSpecialString

(

string

a_command_str

)

Interpret special command.

Parameters

a_command_str

A command string

void gazebo::WorldServer::SendGaitTable	(	SmoresModulePtr	module,
		const int *	flag,
		const double *	gait_value,
		int	msg_type,
		unsigned int	time_stamp,
		string	condition_str,
		string	dependency_str
	)

Send time based common gait with condition and dependency.

Parameters

module	A pointer of SmoresModule object
flag	Message type for each joint angle 0: position; 1: speed; 2: torque(Not implemented); 3: ignore; 4: connect(Not implemented); 5: disconnect(Not implemented)
gait_value	Joints values, either be position, speed or torque
msg_type	Defined in command_message.proto, 3 for joint control
time_stamp	Time based gait table timer
condition_str	Condition string
dependency_str	Dependency string

void gazebo::WorldServer::SendGaitTable	(	SmoresModulePtr	module,
		const int *	flag,
		const double *	gait_value,
		int	msg_type,
		unsigned int	time_stamp
	)

Send time based common gait without condition and dependency.

Parameters

module	A pointer of SmoresModule object
flag	Message type for each joint angle 0: position; 1: speed; 2: torque(Not implemented); 3: ignore; 4: connect(Not implemented); 5: disconnect(Not implemented)
gait_value	Joints values, either be position, speed or torque
msg_type	Defined in command_message.proto, 3 for joint control
time_stamp	Time based gait table timer

void gazebo::WorldServer::SendGaitTable	(	SmoresModulePtr	module,
		const int *	flag,
		const double *	gait_value,
		int	msg_type,
		string	condition_str,
		string	dependency_str
	)

Send common gait with condition and dependency.

Parameters

module	A pointer of SmoresModule object
flag	Message type for each joint angle 0: position; 1: speed; 2: torque(Not implemented); 3: ignore; 4: connect(Not implemented); 5: disconnect(Not implemented)
gait_value	Joints values, either be position, speed or torque
msg_type	Defined in command_message.proto, 3 for joint control
condition_str	Condition string
dependency_str	Dependency string

void gazebo::WorldServer::SendGaitTable	(	SmoresModulePtr	module,
		const int *	flag,
		const double *	gait_value,
		int	msg_type
	)

Send common gait without condition and dependency.

Parameters

module	A pointer of SmoresModule object
flag	Message type for each joint angle 0: position; 1: speed; 2: torque(Not implemented); 3: ignore; 4: connect(Not implemented); 5: disconnect(Not implemented)
gait_value	Joints values, either be position, speed or torque
msg_type	Defined in command_message.proto, 3 for joint control

void gazebo::WorldServer::SendGaitTable	(	SmoresModulePtr	module,
		int	joint_ID,
		double	gait_value,
		int	msg_type,
		unsigned int	time_stamp,
		string	condition_str,
		string	dependency_str
	)

Send gait table to change a single joint of a module.

Parameters

module	A pointer of SmoresModule object
joint_ID	Number index of a joint
gait_value	Joint value, either be position, speed or torque
msg_type	0: position; 1: speed; 2: torque(Not implemented); 3: ignore;
time_stamp	Time based gait table timer
condition_str	Condition string
dependency_str	Dependency string

void gazebo::WorldServer::SendGaitTable	(	SmoresModulePtr	module,
		int	joint_ID,
		double	gait_value,
		int	msg_type,
		unsigned int	time_stamp
	)

Send gait table to change a single joint of a module.

Parameters

module	A pointer of SmoresModule object
joint_ID	Number index of a joint
gait_value	Joint value, either be position, speed or torque
msg_type	0: position; 1: speed; 2: torque(Not implemented); 3: ignore;
time_stamp	Time based gait table timer

void gazebo::WorldServer::SendGaitTable	(	SmoresModulePtr	module,
		int	joint_ID,
		double	gait_value,
		int	msg_type,
		string	condition_str,
		string	dependency_str
	)

Send gait table to change a single joint of a module.

Parameters

module	A pointer of SmoresModule object
joint_ID	Number index of a joint
gait_value	Joint value, either be position, speed or torque
msg_type	0: position; 1: speed; 2: torque(Not implemented); 3: ignore;
condition_str	Condition string
dependency_str	Dependency string

void gazebo::WorldServer::SendGaitTable	(	SmoresModulePtr	module,
		int	joint_ID,
		double	gait_value,
		int	msg_type
	)

Send gait table to change a single joint of a module.

Parameters

module	A pointer of SmoresModule object
joint_ID	Number index of a joint
gait_value	Joint value, either be position, speed or torque
msg_type	0: position; 1: speed; 2: torque(Not implemented); 3: ignore;

void gazebo::WorldServer::SendGaitTable	(	SmoresModulePtr	module,
		string	module1,
		string	module2,
		int	node1,
		int	node2,
		int	commandtype,
		unsigned int	time_stamp,
		string	condition_str,
		string	dependency_str
	)

Send connect or disconnect command, with condition or dependency and time based

Parameters

module	A pointer of SmoresModule object of module 1
module1	Name string of module 1
module2	Name string of module 2
node1	Number index of the joint of module 1
node2	Number index of the joint of module 2
commandtype	Special command indicator, 1 connect; 2 disconnect
time_stamp	Time based gait table timer
condition_str	Condition string
dependency_str	Dependency string

void gazebo::WorldServer::SendGaitTable	(	SmoresModulePtr	module,
		string	module1,
		string	module2,
		int	node1,
		int	node2,
		int	commandtype,
		unsigned int	time_stamp
	)

Send connect or disconnect command, without condition or dependency and time based

Parameters

module	A pointer of SmoresModule object of module 1
module1	Name string of module 1
module2	Name string of module 2
node1	Number index of the joint of module 1
node2	Number index of the joint of module 2
commandtype	Special command indicator, 1 connect; 2 disconnect
time_stamp	Time based gait table timer

void gazebo::WorldServer::SendGaitTable	(	SmoresModulePtr	module,
		string	module1,
		string	module2,
		int	node1,
		int	node2,
		int	commandtype,
		string	condition_str,
		string	dependency_str
	)

Send connect or disconnect command, with condition or dependency

Parameters

module	A pointer of SmoresModule object of module 1
module1	Name string of module 1
module2	Name string of module 2
node1	Number index of the joint of module 1
node2	Number index of the joint of module 2
commandtype	Special command indicator, 1 connect; 2 disconnect
condition_str	Condition string
dependency_str	Dependency string

void gazebo::WorldServer::SendGaitTable	(	SmoresModulePtr	module,
		string	module1,
		string	module2,
		int	node1,
		int	node2,
		int	commandtype
	)

Send connect or disconnect command, without condition or dependency

Parameters

module	A pointer of SmoresModule object of module 1
module1	Name string of module 1
module2	Name string of module 2
node1	Number index of the joint of module 1
node2	Number index of the joint of module 2
commandtype	Special command indicator, 1 connect; 2 disconnect

void gazebo::WorldServer::SendGaitTableInstance	(	SmoresModulePtr	module,
		const int *	flag,
		const double *	gait_value,
		int	msg_type
	)

Used in the direct driving situation, ignore execution order.

Parameters

module	A pointer of SmoresModule object
flag	Message type for each joint angle 0: position; 1: speed; 2: torque(Not implemented); 3: ignore; 4: connect(Not implemented); 5: disconnect(Not implemented)
gait_value	Joints values, either be position, speed or torque
msg_type	Defined in command_message.proto, 4 for direct drive

void gazebo::WorldServer::SendGaitTableInstance	(	SmoresModulePtr	module,
		const int *	flag,
		const double *	gait_value
	)

Used in the direct driving situation with default type 4.

Parameters

module	A pointer of SmoresModule object
flag	Message type for each joint angle 0: position; 1: speed; 2: torque(Not implemented); 3: ignore; 4: connect(Not implemented); 5: disconnect(Not implemented)
gait_value	Joints values, either be position, speed or torque

void gazebo::WorldServer::SendPositionInstance	(	SmoresModulePtr	module,
		double	x,
		double	y,
		double	orientation_angle
	)

Used in direct control, dirve a module to a specific position.

Parameters

module	A pointer of SmoresModule object
x	2D coordinate x
y	2D coordinate y
orientation_angle	Final orientation of the module in global frame

---

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

• WorldPlugin/WorldServer.hh
• WorldPlugin/WorldServer.cc