libgazebo

Detailed Description

A shared memory interface to Gazebo.

Modules

Interfaces

Classes

class Vec3

class Pose

class Color

class Server

class Client

class Iface

#define GZ_SEM_KEY   0x135135FA

#define GZ_CLIENT_ID_USER_FIRST   0x00

#define GZ_CLIENT_ID_USER_LAST   0x07

#define GZ_CLIENT_ID_WXGAZEBO   0x08

#define GZ_CLIENT_ID_PLAYER   0x09

#define GAZEBO_MAX_MODEL_TYPE   128

Defines

#define LIBGAZEBO_VERSION   0x070

Interface version number.

Functions

virtual ~Server ()

void Init (int serverId, int force)

void Fini ()

void Post ()

virtual ~Client ()

void Query (int server_id)

void Connect (int server_id)

void ConnectWait (int server_id, int client_id)

void Disconnect ()

void Wait ()

virtual ~Iface ()

virtual void Create (Server *server, std::string id)

void Create (Server *server, std::string id, const std::string &modelType, int modelId, int parentModelId)

void Destroy ()

virtual void Open (Client *client, std::string id)

virtual void Close ()

int Lock (int blocking)

int Unlock ()

void Post ()

std::string GetType () const

virtual ~SimulationIface ()

virtual void Create (Server *server, std::string id)

virtual void Open (Client *client, std::string id)

virtual ~CameraIface ()

virtual void Create (Server *server, std::string id)

virtual void Open (Client *client, std::string id)

virtual ~PositionIface ()

virtual void Create (Server *server, std::string id)

virtual void Open (Client *client, std::string id)

virtual void Close ()

virtual ~Graphics3dIface ()

virtual void Create (Server *server, std::string id)

virtual void Open (Client *client, std::string id)

virtual ~LaserIface ()

virtual void Create (Server *server, std::string id)

virtual void Open (Client *client, std::string id)

virtual void Close ()

virtual ~FiducialIface ()

virtual void Create (Server *server, std::string id)

virtual void Open (Client *client, std::string id)

virtual ~FactoryIface ()

virtual void Create (Server *server, std::string id)

virtual void Open (Client *client, std::string id)

virtual ~GripperIface ()

virtual void Create (Server *server, std::string id)

virtual void Open (Client *client, std::string id)

virtual ~ActarrayIface ()

virtual void Create (Server *server, std::string id)

virtual void Open (Client *client, std::string id)

Variables

double y

Y value.

double z

Z value.

double roll

Rotation information. Roll Euler angle.

double pitch

Rotation information. Pitch Euler angle.

double yaw

Rotation information. Yaw Euler angle.

float g

Green color information.

float b

Blue color information.

float a

Alpha color information.

int serverId

The server id.

std::string filename

The directory containing mmap files.

int semKey

The semphore key.

int semId

The semphore id.

int serverId

The server id.

int clientId

The client id.

std::string filename

The directory containing mmap files.

int semKey

The semphore key.

int semId

The semphore id.

Server * server

The server we are associated with.

Client * client

The client we are associated with.

int mmapFd

File descriptor for the mmap file.

void * mMap

Pointer to the mmap'ed mem.

std::string filename

The name of the file we created/opened.

int version

Interface version number.

size_t size

Allocation size.

std::string modelType

Type of model that owns this interface.

int modelId

ID of the model that owns this interface.

int parentModelId

ID of the parent model.

std::string type

type of interface

bool opened

True if opened.

double pauseTime

Accumpated pause time (this interface may be updated with the server is paused).

double realTime

Elapsed real time since start of simulation (from system clock).

int pause

Pause simulation (set by client).

int reset

Reset simulation (set by client).

int save

Save current poses to world file (set by client).

uint8_t model_name [512]

Name of the model to get/set data.

uint8_t model_req [32]

Type of request

"get_pose" Sets model_pose to the pose of model_name
"set_pose3d" Set the model_name to model_pose
"set_pose2d" Set the model_name to model_pose.

Pose model_pose

Pose of the model.

SimulationData * data

Pointer to the simulation data.

unsigned int width

Width of image in pixels.

unsigned int height

Height of image in pixels.

unsigned int image_size

Size of the image in bytes.

unsigned char image [640 *480 *3]

Image pixel data.

CameraData * data

Pointer to the camera data.

Pose pose

Pose (usually global cs).

Pose velocity

Velocity.

int stall

Motor stall flag.

int cmdEnableMotors

Enable the motors.

Pose cmdVelocity

Commanded robot velocities (robot cs).

bool opened

True if opened.

PositionData * data

Pointer to the position data.

DrawMode drawmode

Drawing mode.

unsigned int point_count

Number of vertices.

Vec3 points [1024]

Vertices.

Color color

Drawing color.

Graphics3dData * data

Pointer to the graphics3d data.

double time

Data timestamp.

double min_angle

Range scan min angle.

double max_angle

Range scan max angle.

double res_angle

Angular resolution.

double max_range

Max range value.

int range_count

Number of range readings.

double ranges [1024]

Range readings.

int intensity [1024]

Intensity readings.

int cmd_new_angle

New command ( 0 or 1 ).

int cmd_new_length

New command ( 0 or 1 ).

double cmd_max_range

Commanded range value.

double cmd_min_angle

Commaned min angle.

double cmd_max_angle

Commaned max angle.

int cmd_range_count

Commaned range count.

LaserData * data

Pointer to the laser data.

Pose pose

Fiducial pose.

int count

Number of fiducials.

FiducialFid fids [401]

Observed fiducials.

FiducialData * data

Pointer to the fiducial data.

uint8_t newModel [4096]

String describing the model to be initiated.

uint8_t deleteModel [512]

Delete a model by name.

FactoryData * data

Pointer to the factory data.

int cmd

int state

Current state of the gripper.

int grip_limit_reach

Gripped limit reached flag.

int lift_limit_reach

Lift limit reached flag.

int outer_beam_obstruct

Outer beam obstruct flag.

int inner_beam_obstruct

Inner beam obstructed flag.

int left_paddle_open

Left paddle open flag.

int right_paddle_open

Right paddle open flag.

int lift_up

Lift up flag.

int lift_down

Lift down flag.

GripperData * data

Pointer to the factory data.

uint8_t type

The type of the actuator - linear or rotary.

float min

Min range of motion (m or rad depending on the type).

float center

Center position (m or rad).

float max

Max range of motion (m or rad depending on the type).

float home

Home position (m or rad depending on the type).

float config_speed

The configured speed - different from current speed.

float max_speed

The maximum achievable speed of the actuator.

uint8_t hasbrakes

If the actuator has brakes or not.

float speed

The speed of the actuator in m/s or rad/s depending on the type.

uint8_t state

The current state of the actuator.

double time

timestamp

ActarrayActuator actuators [16]

The actuator data.

ActarrayActuatorGeom actuator_geoms [16]

The actuators geoms.

float cmd_pos [16]

position commands

float cmd_speed [16]

speed commands

int bad_cmd

bad command flag - (speed to high set for the actuators or position not reachable)

unsigned int joint_mode [16]

position / speed comand

ActarrayData * data

Pointer to the act array data.

Define Documentation

#define GAZEBO_MAX_MODEL_TYPE 128

Base class for all interfaces

For internal use only.

Max length of model type string

#define GZ_CLIENT_ID_PLAYER 0x09

Shared memory clientThe client object is used by Gazebo clients to establish a connection with a running server. Semaphore key used by Gazebo

#define GZ_CLIENT_ID_USER_FIRST 0x00

Reserved client IDs.

User programs may use numbers in the range GZ_SEM_NUM_USER to GZ_SEM_NUM_USER_LAST, inclusive. All other semaphore numbers are reserved.

#define GZ_CLIENT_ID_USER_LAST 0x07

Shared memory clientThe client object is used by Gazebo clients to establish a connection with a running server. Semaphore key used by Gazebo

#define GZ_CLIENT_ID_WXGAZEBO 0x08

Shared memory clientThe client object is used by Gazebo clients to establish a connection with a running server. Semaphore key used by Gazebo

#define GZ_SEM_KEY 0x135135FA

Shared memory clientThe client object is used by Gazebo clients to establish a connection with a running server. Semaphore key used by Gazebo

Function Documentation

virtual void Close ( ) [inline, virtual, inherited]

Close the interface

Reimplemented from Iface.

virtual void Close ( ) [inline, virtual, inherited]

Close the interface

Reimplemented from Iface.

virtual void Close ( ) [virtual, inherited]

Close the interface

Reimplemented in PositionIface, and LaserIface.

void Connect ( int server_id ) [inherited]

Connect to the server (non-blocking mode).

Parameters:

server_id

Id of the server

void ConnectWait	(	int	server_id,
		int	client_id
	)			`[inherited]`

Connect to the server (blocking mode).

Parameters:

	server_id	Server ID; each server must have a unique id.
	client_id	Client ID; in blocking mode, each client must have a unique id.

virtual void Create	(	Server *	server,
		std::string	id
	)			`[inline, virtual, inherited]`

Create the interface (used by Gazebo server)

Parameters:

	server	Pointer to the server
	id	Id of the interface

Reimplemented from Iface.

virtual void Create	(	Server *	server,
		std::string	id
	)			`[inline, virtual, inherited]`

Create the server

Reimplemented from Iface.

virtual void Create	(	Server *	server,
		std::string	id
	)			`[inline, virtual, inherited]`

Create the server

Reimplemented from Iface.

virtual void Create	(	Server *	server,
		std::string	id
	)			`[inline, virtual, inherited]`

Create the server

Reimplemented from Iface.

virtual void Create	(	Server *	server,
		std::string	id
	)			`[inline, virtual, inherited]`

Create the interface (used by Gazebo server)

Parameters:

	server	Pointer to the server
	id	Id of the interface

Reimplemented from Iface.

virtual void Create	(	Server *	server,
		std::string	id
	)			`[inline, virtual, inherited]`

Create the interface (used by Gazebo server)

Parameters:

	server	Pointer to the server
	id	Id of the interface

Reimplemented from Iface.

virtual void Create	(	Server *	server,
		std::string	id
	)			`[inline, virtual, inherited]`

Create the interface (used by Gazebo server)

Parameters:

	server	Pointer to the server
	id	Id of the interface

Reimplemented from Iface.

virtual void Create	(	Server *	server,
		std::string	id
	)			`[inline, virtual, inherited]`

Create the interface (used by Gazebo server)

Parameters:

	server	Pointer to the server
	id	Id of the interface

Reimplemented from Iface.

virtual void Create	(	Server *	server,
		std::string	id
	)			`[inline, virtual, inherited]`

Create a simulation interface server Pointer to the server id String id

Reimplemented from Iface.

void Create	(	Server *	server,
		std::string	id,
		const std::string &	modelType,
		int	modelId,
		int	parentModelId
	)			`[inherited]`

Create the interface (used by Gazebo server)

Parameters:

	server	Pointer to the server
	id	Id of the server
	modelType	Type of the model
	modelId	Id of the model
	parentModelId	Id of the model's parent

virtual void Create	(	Server *	server,
		std::string	id
	)			`[virtual, inherited]`

Create the interface (used by Gazebo server)

Parameters:

	server	Pointer to the server
	id	Id of the interface

Reimplemented in SimulationIface, CameraIface, PositionIface, Graphics3dIface, LaserIface, FiducialIface, FactoryIface, GripperIface, and ActarrayIface.

void Destroy ( ) [inherited]

Destroy the interface (server)

void Disconnect ( ) [inherited]

Disconnect from the server

void Fini ( ) [inherited]

Finalize the server

std::string GetType ( ) const [inherited]

Get the iface type

Returns:: The type of interface

void Init	(	int	serverId,
		int	force
	)			`[inherited]`

Initialize the server

int Lock ( int blocking ) [inherited]

Lock the interface.

Parameters:

blocking

1=caller should block, 0=no-block

Returns:: 0 if the lock is acquired

virtual void Open	(	Client *	client,
		std::string	id
	)			`[inline, virtual, inherited]`

Open an existing interface

Parameters:

	client	Pointer to the client
	id	Id of the interface

Reimplemented from Iface.

virtual void Open	(	Client *	client,
		std::string	id
	)			`[inline, virtual, inherited]`

Open the iface

Reimplemented from Iface.

virtual void Open	(	Client *	client,
		std::string	id
	)			`[inline, virtual, inherited]`

Open the iface

Reimplemented from Iface.

virtual void Open	(	Client *	client,
		std::string	id
	)			`[inline, virtual, inherited]`

Open the iface

Reimplemented from Iface.

virtual void Open	(	Client *	client,
		std::string	id
	)			`[inline, virtual, inherited]`

Open an existing interface

Parameters:

	client	Pointer to the client
	id	Id of the interface

Reimplemented from Iface.

virtual void Open	(	Client *	client,
		std::string	id
	)			`[inline, virtual, inherited]`

Open an existing interface

Parameters:

	client	Pointer to the client
	id	Id of the interface

Reimplemented from Iface.

virtual void Open	(	Client *	client,
		std::string	id
	)			`[inline, virtual, inherited]`

Open an existing interface

Parameters:

	client	Pointer to the client
	id	Id of the interface

Reimplemented from Iface.

virtual void Open	(	Client *	client,
		std::string	id
	)			`[inline, virtual, inherited]`

Open an existing interface

Parameters:

	client	Pointer to the client
	id	Id of the interface

Reimplemented from Iface.

virtual void Open	(	Client *	client,
		std::string	id
	)			`[inline, virtual, inherited]`

Open a simulation interface

Parameters:

	client	Pointer to the client
	id	String name of the client

Reimplemented from Iface.

virtual void Open	(	Client *	client,
		std::string	id
	)			`[virtual, inherited]`

Open an existing interface

Parameters:

	client	Pointer to the client
	id	Id of the interface

Reimplemented in SimulationIface, CameraIface, PositionIface, Graphics3dIface, LaserIface, FiducialIface, FactoryIface, GripperIface, and ActarrayIface.

void Post ( ) [inherited]

Tell clients that new data is available

void Post ( ) [inherited]

Tell clients that new data is available

void Query ( int server_id ) [inherited]

Test for the presence of the server.

Parameters:

server_id

Id of the server

int Unlock ( ) [inherited]

Unlock the interface

void Wait ( ) [inherited]

Wait for new data to be posted (blocking mode).

Returns:: Returns 0 on success, -1 on error.

virtual ~ActarrayIface ( ) [inline, virtual, inherited]

Destroy and Interface

virtual ~CameraIface ( ) [inline, virtual, inherited]

Destructor

virtual ~Client ( ) [virtual, inherited]

Destroy a client

virtual ~FactoryIface ( ) [inline, virtual, inherited]

Destructor

virtual ~FiducialIface ( ) [inline, virtual, inherited]

Destructor

virtual ~Graphics3dIface ( ) [inline, virtual, inherited]

Destructor

virtual ~GripperIface ( ) [inline, virtual, inherited]

Destructor

virtual ~Iface ( ) [virtual, inherited]

Destroy an interface

virtual ~LaserIface ( ) [inline, virtual, inherited]

Destructor

virtual ~PositionIface ( ) [inline, virtual, inherited]

Destructor

virtual ~Server ( ) [virtual, inherited]

Destructor

virtual ~SimulationIface ( ) [inline, virtual, inherited]

Destroy an interface

Variable Documentation

int cmd [inherited]

Current command for the gripper

Pose model_pose [inherited]

Pose of the model.

See also:: model_req

Last updated Aug 04 2007


Modules
	Interfaces
Classes
class	Vec3
class	Pose
class	Color
class	Server
class	Client
class	Iface
#define	GZ_SEM_KEY 0x135135FA
#define	GZ_CLIENT_ID_USER_FIRST 0x00
#define	GZ_CLIENT_ID_USER_LAST 0x07
#define	GZ_CLIENT_ID_WXGAZEBO 0x08
#define	GZ_CLIENT_ID_PLAYER 0x09
#define	GAZEBO_MAX_MODEL_TYPE 128
Defines
#define	LIBGAZEBO_VERSION 0x070
	Interface version number.
Functions
virtual	~Server ()
void	Init (int serverId, int force)
void	Fini ()
void	Post ()
virtual	~Client ()
void	Query (int server_id)
void	Connect (int server_id)
void	ConnectWait (int server_id, int client_id)
void	Disconnect ()
void	Wait ()
virtual	~Iface ()
virtual void	Create (Server *server, std::string id)
void	Create (Server *server, std::string id, const std::string &modelType, int modelId, int parentModelId)
void	Destroy ()
virtual void	Open (Client *client, std::string id)
virtual void	Close ()
int	Lock (int blocking)
int	Unlock ()
void	Post ()
std::string	GetType () const
virtual	~SimulationIface ()
virtual void	Create (Server *server, std::string id)
virtual void	Open (Client *client, std::string id)
virtual	~CameraIface ()
virtual void	Create (Server *server, std::string id)
virtual void	Open (Client *client, std::string id)
virtual	~PositionIface ()
virtual void	Create (Server *server, std::string id)
virtual void	Open (Client *client, std::string id)
virtual void	Close ()
virtual	~Graphics3dIface ()
virtual void	Create (Server *server, std::string id)
virtual void	Open (Client *client, std::string id)
virtual	~LaserIface ()
virtual void	Create (Server *server, std::string id)
virtual void	Open (Client *client, std::string id)
virtual void	Close ()
virtual	~FiducialIface ()
virtual void	Create (Server *server, std::string id)
virtual void	Open (Client *client, std::string id)
virtual	~FactoryIface ()
virtual void	Create (Server *server, std::string id)
virtual void	Open (Client *client, std::string id)
virtual	~GripperIface ()
virtual void	Create (Server *server, std::string id)
virtual void	Open (Client *client, std::string id)
virtual	~ActarrayIface ()
virtual void	Create (Server *server, std::string id)
virtual void	Open (Client *client, std::string id)
Variables
double	y
	Y value.
double	z
	Z value.
double	roll
	Rotation information. Roll Euler angle.
double	pitch
	Rotation information. Pitch Euler angle.
double	yaw
	Rotation information. Yaw Euler angle.
float	g
	Green color information.
float	b
	Blue color information.
float	a
	Alpha color information.
int	serverId
	The server id.
std::string	filename
	The directory containing mmap files.
int	semKey
	The semphore key.
int	semId
	The semphore id.
int	serverId
	The server id.
int	clientId
	The client id.
std::string	filename
	The directory containing mmap files.
int	semKey
	The semphore key.
int	semId
	The semphore id.
Server *	server
	The server we are associated with.
Client *	client
	The client we are associated with.
int	mmapFd
	File descriptor for the mmap file.
void *	mMap
	Pointer to the mmap'ed mem.
std::string	filename
	The name of the file we created/opened.
int	version
	Interface version number.
size_t	size
	Allocation size.
std::string	modelType
	Type of model that owns this interface.
int	modelId
	ID of the model that owns this interface.
int	parentModelId
	ID of the parent model.
std::string	type
	type of interface
bool	opened
	True if opened.
double	pauseTime
	Accumpated pause time (this interface may be updated with the server is paused).
double	realTime
	Elapsed real time since start of simulation (from system clock).
int	pause
	Pause simulation (set by client).
int	reset
	Reset simulation (set by client).
int	save
	Save current poses to world file (set by client).
uint8_t	model_name [512]
	Name of the model to get/set data.
uint8_t	model_req [32]
	Type of request "get_pose" Sets model_pose to the pose of model_name "set_pose3d" Set the model_name to model_pose "set_pose2d" Set the model_name to model_pose.
Pose	model_pose
	Pose of the model.
SimulationData *	data
	Pointer to the simulation data.
unsigned int	width
	Width of image in pixels.
unsigned int	height
	Height of image in pixels.
unsigned int	image_size
	Size of the image in bytes.
unsigned char	image [640 480 3]
	Image pixel data.
CameraData *	data
	Pointer to the camera data.
Pose	pose
	Pose (usually global cs).
Pose	velocity
	Velocity.
int	stall
	Motor stall flag.
int	cmdEnableMotors
	Enable the motors.
Pose	cmdVelocity
	Commanded robot velocities (robot cs).
bool	opened
	True if opened.
PositionData *	data
	Pointer to the position data.
DrawMode	drawmode
	Drawing mode.
unsigned int	point_count
	Number of vertices.
Vec3	points [1024]
	Vertices.
Color	color
	Drawing color.
Graphics3dData *	data
	Pointer to the graphics3d data.
double	time
	Data timestamp.
double	min_angle
	Range scan min angle.
double	max_angle
	Range scan max angle.
double	res_angle
	Angular resolution.
double	max_range
	Max range value.
int	range_count
	Number of range readings.
double	ranges [1024]
	Range readings.
int	intensity [1024]
	Intensity readings.
int	cmd_new_angle
	New command ( 0 or 1 ).
int	cmd_new_length
	New command ( 0 or 1 ).
double	cmd_max_range
	Commanded range value.
double	cmd_min_angle
	Commaned min angle.
double	cmd_max_angle
	Commaned max angle.
int	cmd_range_count
	Commaned range count.
LaserData *	data
	Pointer to the laser data.
Pose	pose
	Fiducial pose.
int	count
	Number of fiducials.
FiducialFid	fids [401]
	Observed fiducials.
FiducialData *	data
	Pointer to the fiducial data.
uint8_t	newModel [4096]
	String describing the model to be initiated.
uint8_t	deleteModel [512]
	Delete a model by name.
FactoryData *	data
	Pointer to the factory data.
int	cmd
int	state
	Current state of the gripper.
int	grip_limit_reach
	Gripped limit reached flag.
int	lift_limit_reach
	Lift limit reached flag.
int	outer_beam_obstruct
	Outer beam obstruct flag.
int	inner_beam_obstruct
	Inner beam obstructed flag.
int	left_paddle_open
	Left paddle open flag.
int	right_paddle_open
	Right paddle open flag.
int	lift_up
	Lift up flag.
int	lift_down
	Lift down flag.
GripperData *	data
	Pointer to the factory data.
uint8_t	type
	The type of the actuator - linear or rotary.
float	min
	Min range of motion (m or rad depending on the type).
float	center
	Center position (m or rad).
float	max
	Max range of motion (m or rad depending on the type).
float	home
	Home position (m or rad depending on the type).
float	config_speed
	The configured speed - different from current speed.
float	max_speed
	The maximum achievable speed of the actuator.
uint8_t	hasbrakes
	If the actuator has brakes or not.
float	speed
	The speed of the actuator in m/s or rad/s depending on the type.
uint8_t	state
	The current state of the actuator.
double	time
	timestamp
ActarrayActuator	actuators [16]
	The actuator data.
ActarrayActuatorGeom	actuator_geoms [16]
	The actuators geoms.
float	cmd_pos [16]
	position commands
float	cmd_speed [16]
	speed commands
int	bad_cmd
	bad command flag - (speed to high set for the actuators or position not reachable)
unsigned int	joint_mode [16]
	position / speed comand
ActarrayData *	data
	Pointer to the act array data.