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World Class Reference

The one-and-only world; all models go here. More...

#include <World.hh>

List of all members.

Public Member Functions

 World (int serverId, bool serverForce)
virtual ~World ()
int Load (WorldFile *worldFile)
 Load the world from a file.
int LoadModel (WorldFileNode *node, Model *parent)
void SetModelPose (Model *model, GzPose pose)
 Set the pose of a model (and its attached children).
void ResetModelPoses ()
 Reset the world.
int Save ()
 Save the world.
int Initialize ()
int Finalize ()
void Step ()
double GetSimTime ()
 Get the elapsed simulator time (seconds).
double GetPauseTime ()
 Get accumulated pause time (seconds).
double GetRealTime ()
 Get the elapsed real time (elapsed time).
double GetWallTime ()
 Get the wall clock time (seconds).
double GetDayTime ()
 Get the time relative to 12am (seconds).
int GetNumModels () const
 Get the number of models.
Model ** GetModels () const
 Get the list of models.
dSpaceID GetSpaceId ()

Public Attributes

int server_id
gz_server_tgz_server
dWorldID worldId
double simSpeed
 Simulation speed (e.g. speed 2 yields twice real time).
double utcOffset
 UTC time offset (seconds since epoch). Used for GPS times.
GzVector utmZone
GzVector utmOffset
 UTM offset (UTM coordinate that maps to zero in global cs).
GzColor skyColor
bool fogEnable
double fogDensity
GzColor fogColor

Friends

class Model


Detailed Description

The one-and-only world; all models go here.

The world class keeps a list of all models, handles loading and saving, object dynamics and collision detection for contact joints.


Constructor & Destructor Documentation

World::World int  serverId,
bool  serverForce
 

World::~World  )  [virtual]
 


Member Function Documentation

int World::Load WorldFile worldFile  ) 
 

Load the world from a file.

Parameters:
worldFile Pointer to the world file object; the file pointer is stored must not be deleted while the world is running.

int World::LoadModel WorldFileNode node,
Model parent
 

void World::SetModelPose Model model,
GzPose  pose
 

Set the pose of a model (and its attached children).

Parameters:
model model to shift.
pose New model pose, relative to parent

void World::ResetModelPoses  ) 
 

Reset the world.

Teleport the models to their initial positions, as specified in the world file. This does not change the similator clock, or any other state variables.

int World::Save  ) 
 

Save the world.

This is used to mainly save changes to model poses.

int World::Initialize  ) 
 

int World::Finalize  ) 
 

void World::Step  ) 
 

double World::GetSimTime  ) 
 

Get the elapsed simulator time (seconds).

double World::GetPauseTime  ) 
 

Get accumulated pause time (seconds).

Note that this is the paused simulation time; i.e., simTime + pauseTime = simSpeed * realTime (assuming a fast processor).

double World::GetRealTime  ) 
 

Get the elapsed real time (elapsed time).

double World::GetWallTime  ) 
 

Get the wall clock time (seconds).

double World::GetDayTime  ) 
 

Get the time relative to 12am (seconds).

int World::GetNumModels  )  const
 

Get the number of models.

Model ** World::GetModels  )  const
 

Get the list of models.

dSpaceID World::GetSpaceId  )  [inline]
 


Friends And Related Function Documentation

friend class Model [friend]
 


Member Data Documentation

int World::server_id
 

gz_server_t* World::gz_server
 

dWorldID World::worldId
 

double World::simSpeed
 

Simulation speed (e.g. speed 2 yields twice real time).

double World::utcOffset
 

UTC time offset (seconds since epoch). Used for GPS times.

GzVector World::utmZone
 

UTM zone. This is an integer offset; e.g., UTM zone 11 is converted to x = +11.

GzVector World::utmOffset
 

UTM offset (UTM coordinate that maps to zero in global cs).

GzColor World::skyColor
 

bool World::fogEnable
 

double World::fogDensity
 

GzColor World::fogColor
 


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


Last updated $Date: 2004/12/21 01:49:15 $
Generated on Sun May 22 18:39:09 2005 for Gazebo by doxygen 1.4.2