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gazebo.h File Reference

#include <sys/types.h>
#include <stdlib.h>
#include <stdint.h>

Go to the source code of this file.

Classes

struct  gz_server
 Server data. More...
struct  gz_client
 Client data. More...
struct  gz_data
 Common data header. More...
struct  gz_iface
struct  gz_sim_data
 Common simulator data. More...
struct  gz_sim
 Simulator interface. More...
struct  gz_camera_data
 Camera interface data. More...
struct  gz_camera
 The camera interface. More...
struct  gz_factory_data
 Factory interface. More...
struct  gz_factory
 The position interface. More...
struct  gz_fiducial_fid
 Data for a single fiducial. More...
struct  gz_fiducial_data
 Fiducial data. More...
struct  gz_fiducial
 The fiducial interface. More...
struct  gz_guicam_data
 Guicam interface data. More...
struct  gz_guicam
 The guicam interface. More...
struct  gz_gps_data
 GPS interface. More...
struct  gz_gps
 The GPS interface. More...
struct  gz_gripper_data
 Gripper data interface. More...
struct  gz_gripper
 The gripper interface. More...
struct  gz_laser_data
 Laser data. More...
struct  gz_laser
 The laser interface. More...
struct  gz_position_data
 Position interface. More...
struct  gz_position
 The position interface. More...
struct  gz_power_data
 Power interface. More...
struct  gz_power
 The power interface. More...
struct  gz_ptz_data
 Ptz interface. More...
struct  gz_ptz
 The ptz interface. More...
struct  gz_sonar_data
 Sonar data interface. More...
struct  gz_sonar
 The sonar interface. More...
struct  gz_stereo_data
 Stereo interface data. More...
struct  gz_stereo
 The stereo interface. More...
struct  gz_truth_data
 Truth data. More...
struct  gz_truth
 The truth interface. More...
struct  gz_wifi_link
 Individual link properties. More...
struct  gz_wifi_data
struct  gz_wifi
 The truth interface. More...
struct  gz_joint_data
 Individual joint data. More...
struct  gz_joints
 Joints interface. More...
struct  gz_joint
 The joint interface. More...

Defines

#define LIBGAZEBO_VERSION   0x060
 Interface version number.
#define GZ_SEM_KEY   0x135135FA
 Semaphore key used by Gazebo.
#define GZ_CLIENT_ID_USER_FIRST   0x00
 Reserved client IDs.
#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
 Max length of model type string.
#define GAZEBO_CAMERA_MAX_IMAGE_SIZE   640 * 480 * 3
 Maximum image pixels (width x height).
#define GZ_FIDUCIAL_MAX_FIDS   401
#define GAZEBO_GUICAM_MAX_IMAGE_SIZE   1024 * 768 * 3
 Constants.
#define GZ_LASER_MAX_RANGES   401
#define GZ_SONAR_MAX_RANGES   48
#define GAZEBO_STEREO_MAX_RGB_SIZE   640 * 480 * 3
 Constants.
#define GAZEBO_STEREO_MAX_DISPARITY_SIZE   640 * 480
#define GAZEBO_WIFI_MAX_LINKS   16
#define GAZEBO_WIFI_QUAL_DBM   1
 link quality is in dBm
#define GAZEBO_JOINT_MAX_JOINTS   20

Typedefs

typedef gz_server gz_server_t
 Server data.
typedef gz_client gz_client_t
 Client data.
typedef gz_data gz_data_t
 Common data header.
typedef gz_iface gz_iface_t
typedef gz_sim_data gz_sim_data_t
 Common simulator data.
typedef gz_sim gz_sim_t
 Simulator interface.
typedef gz_camera_data gz_camera_data_t
 Camera interface data.
typedef gz_camera gz_camera_t
 The camera interface.
typedef gz_factory_data gz_factory_data_t
 Factory interface.
typedef gz_factory gz_factory_t
 The position interface.
typedef gz_fiducial_fid gz_fiducial_fid_t
 Data for a single fiducial.
typedef gz_fiducial_data gz_fiducial_data_t
 Fiducial data.
typedef gz_fiducial gz_fiducial_t
 The fiducial interface.
typedef gz_guicam_data gz_guicam_data_t
 Guicam interface data.
typedef gz_guicam gz_guicam_t
 The guicam interface.
typedef gz_gps_data gz_gps_data_t
 GPS interface.
typedef gz_gps gz_gps_t
 The GPS interface.
typedef gz_gripper_data gz_gripper_data_t
 Gripper data interface.
typedef gz_gripper gz_gripper_t
 The gripper interface.
typedef gz_laser_data gz_laser_data_t
 Laser data.
typedef gz_laser gz_laser_t
 The laser interface.
typedef gz_position_data gz_position_data_t
 Position interface.
typedef gz_position gz_position_t
 The position interface.
typedef gz_power_data gz_power_data_t
 Power interface.
typedef gz_power gz_power_t
 The power interface.
typedef gz_ptz_data gz_ptz_data_t
 Ptz interface.
typedef gz_ptz gz_ptz_t
 The ptz interface.
typedef gz_sonar_data gz_sonar_data_t
 Sonar data interface.
typedef gz_sonar gz_sonar_t
 The sonar interface.
typedef gz_stereo_data gz_stereo_data_t
 Stereo interface data.
typedef gz_stereo gz_stereo_t
 The stereo interface.
typedef gz_truth_data gz_truth_data_t
 Truth data.
typedef gz_truth gz_truth_t
 The truth interface.
typedef gz_wifi_link gz_wifi_link_t
 Individual link properties.
typedef gz_wifi_data gz_wifi_data_t
typedef gz_wifi gz_wifi_t
 The truth interface.
typedef gz_joint_data gz_joint_data_t
 Individual joint data.
typedef gz_joints gz_joints_t
 Joints interface.
typedef gz_joint gz_joint_t
 The joint interface.

Functions

void gz_error_init (int print, int level)
const char * gz_error_str (void)
gz_server_tgz_server_alloc ()
 Create a new server.
void gz_server_free (gz_server_t *self)
 Destroy a server.
int gz_server_init (gz_server_t *self, int server_id, int force)
 Initialize the server.
int gz_server_fini (gz_server_t *self)
 Finalize the server.
int gz_server_post (gz_server_t *self)
 Tell clients that new data is available.
gz_client_tgz_client_alloc ()
 Create a new client.
void gz_client_free (gz_client_t *self)
 Destroy a client.
int gz_client_query (gz_client_t *self, int server_id)
int gz_client_connect (gz_client_t *self, int server_id)
 Connect to the server (non-blocking mode).
int gz_client_connect_wait (gz_client_t *self, int server_id, int client_id)
 Connect to the server (blocking mode).
int gz_client_disconnect (gz_client_t *self)
 Disconnect from the server.
int gz_client_wait (gz_client_t *self)
 Wait for new data to be posted (blocking mode).
gz_iface_tgz_iface_alloc ()
void gz_iface_free (gz_iface_t *self)
int gz_iface_create (gz_iface_t *self, gz_server_t *server, const char *type, const char *id, size_t size)
int gz_iface_destroy (gz_iface_t *self)
int gz_iface_open (gz_iface_t *self, gz_client_t *client, const char *type, const char *id, size_t size)
int gz_iface_close (gz_iface_t *self)
int gz_iface_lock (gz_iface_t *self, int blocking)
void gz_iface_unlock (gz_iface_t *self)
int gz_iface_post (gz_iface_t *self)
gz_sim_tgz_sim_alloc ()
 Create an interface.
void gz_sim_free (gz_sim_t *self)
 Destroy an interface.
int gz_sim_create (gz_sim_t *self, gz_server_t *server, const char *id)
int gz_sim_destroy (gz_sim_t *self)
int gz_sim_open (gz_sim_t *self, gz_client_t *client, const char *id)
 Open an existing interface.
int gz_sim_close (gz_sim_t *self)
 Close the interface.
int gz_sim_lock (gz_sim_t *self, int blocking)
void gz_sim_unlock (gz_sim_t *self)
 Unlock the interface.
gz_camera_tgz_camera_alloc ()
 Create an interface.
void gz_camera_free (gz_camera_t *self)
 Destroy an interface.
int gz_camera_create (gz_camera_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id)
int gz_camera_destroy (gz_camera_t *self)
int gz_camera_open (gz_camera_t *self, gz_client_t *client, const char *id)
 Open an existing interface (used by Gazebo clients).
int gz_camera_close (gz_camera_t *self)
 Close the interface (client).
int gz_camera_lock (gz_camera_t *self, int blocking)
void gz_camera_unlock (gz_camera_t *self)
 Unlock the interface.
int gz_camera_post (gz_camera_t *self)
 Tell clients that new data is available.
gz_factory_tgz_factory_alloc ()
 Create an interface.
void gz_factory_free (gz_factory_t *self)
 Destroy an interface.
int gz_factory_create (gz_factory_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id)
int gz_factory_destroy (gz_factory_t *self)
int gz_factory_open (gz_factory_t *self, gz_client_t *client, const char *id)
 Open an existing interface (used by Gazebo clients).
int gz_factory_close (gz_factory_t *self)
 Close the interface (client).
int gz_factory_lock (gz_factory_t *self, int blocking)
void gz_factory_unlock (gz_factory_t *self)
 Unlock the interface.
gz_fiducial_tgz_fiducial_alloc ()
 Create an interface.
void gz_fiducial_free (gz_fiducial_t *self)
 Destroy an interface.
int gz_fiducial_create (gz_fiducial_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id)
int gz_fiducial_destroy (gz_fiducial_t *self)
int gz_fiducial_open (gz_fiducial_t *self, gz_client_t *client, const char *id)
 Open an existing interface (used by Gazebo clients).
int gz_fiducial_close (gz_fiducial_t *self)
 Close the interface (client).
int gz_fiducial_lock (gz_fiducial_t *self, int blocking)
void gz_fiducial_unlock (gz_fiducial_t *self)
 Unlock the interface.
int gz_fiducial_post (gz_fiducial_t *self)
 Tell clients that new data is available.
gz_guicam_tgz_guicam_alloc ()
 Create an interface.
void gz_guicam_free (gz_guicam_t *self)
 Destroy an interface.
int gz_guicam_create (gz_guicam_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id)
int gz_guicam_destroy (gz_guicam_t *self)
int gz_guicam_open (gz_guicam_t *self, gz_client_t *client, const char *id)
 Open an existing interface (used by Gazebo clients).
int gz_guicam_close (gz_guicam_t *self)
 Close the interface (client).
int gz_guicam_lock (gz_guicam_t *self, int blocking)
void gz_guicam_unlock (gz_guicam_t *self)
 Unlock the interface.
int gz_guicam_post (gz_guicam_t *self)
 Tell clients that new data is available.
gz_gps_tgz_gps_alloc ()
 Create an interface.
void gz_gps_free (gz_gps_t *self)
 Destroy an interface.
int gz_gps_create (gz_gps_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id)
int gz_gps_destroy (gz_gps_t *self)
int gz_gps_open (gz_gps_t *self, gz_client_t *client, const char *id)
 Open an existing interface (used by Gazebo clients).
int gz_gps_close (gz_gps_t *self)
 Close the interface (client).
int gz_gps_lock (gz_gps_t *self, int blocking)
void gz_gps_unlock (gz_gps_t *self)
 Unlock the interface.
int gz_gps_post (gz_gps_t *self)
 Tell clients that new data is available.
gz_gripper_tgz_gripper_alloc ()
 Create an interface.
void gz_gripper_free (gz_gripper_t *self)
 Destroy an interface.
int gz_gripper_create (gz_gripper_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id)
int gz_gripper_destroy (gz_gripper_t *self)
int gz_gripper_open (gz_gripper_t *self, gz_client_t *client, const char *id)
 Open an existing interface (used by Gazebo clients).
int gz_gripper_close (gz_gripper_t *self)
 Close the interface (client).
int gz_gripper_lock (gz_gripper_t *self, int blocking)
void gz_gripper_unlock (gz_gripper_t *self)
 Unlock the interface.
gz_laser_tgz_laser_alloc ()
 Create an interface.
void gz_laser_free (gz_laser_t *self)
 Destroy an interface.
int gz_laser_create (gz_laser_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id)
int gz_laser_destroy (gz_laser_t *self)
int gz_laser_open (gz_laser_t *self, gz_client_t *client, const char *id)
 Open an existing interface (used by Gazebo clients).
int gz_laser_close (gz_laser_t *self)
 Close the interface (client).
int gz_laser_lock (gz_laser_t *self, int blocking)
void gz_laser_unlock (gz_laser_t *self)
 Unlock the interface.
int gz_laser_post (gz_laser_t *self)
 Tell clients that new data is available.
gz_position_tgz_position_alloc ()
 Create an interface.
void gz_position_free (gz_position_t *self)
 Destroy an interface.
int gz_position_create (gz_position_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id)
int gz_position_destroy (gz_position_t *self)
int gz_position_open (gz_position_t *self, gz_client_t *client, const char *id)
 Open an existing interface (used by Gazebo clients).
int gz_position_close (gz_position_t *self)
 Close the interface (client).
int gz_position_lock (gz_position_t *self, int blocking)
void gz_position_unlock (gz_position_t *self)
 Unlock the interface.
int gz_position_post (gz_position_t *self)
 Tell clients that new data is available.
gz_power_tgz_power_alloc ()
 Create an interface.
void gz_power_free (gz_power_t *self)
 Destroy an interface.
int gz_power_create (gz_power_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id)
int gz_power_destroy (gz_power_t *self)
int gz_power_open (gz_power_t *self, gz_client_t *client, const char *id)
 Open an existing interface (used by Gazebo clients).
int gz_power_close (gz_power_t *self)
 Close the interface (client).
int gz_power_lock (gz_power_t *self, int blocking)
void gz_power_unlock (gz_power_t *self)
 Unlock the interface.
int gz_power_post (gz_power_t *self)
 Tell clients that new data is available.
gz_ptz_tgz_ptz_alloc ()
 Create an interface.
void gz_ptz_free (gz_ptz_t *self)
 Destroy an interface.
int gz_ptz_create (gz_ptz_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id)
int gz_ptz_destroy (gz_ptz_t *self)
int gz_ptz_open (gz_ptz_t *self, gz_client_t *client, const char *id)
 Open an existing interface (used by Gazebo clients).
int gz_ptz_close (gz_ptz_t *self)
 Close the interface (client).
int gz_ptz_lock (gz_ptz_t *self, int blocking)
void gz_ptz_unlock (gz_ptz_t *self)
 Unlock the interface.
int gz_ptz_post (gz_ptz_t *self)
 Tell clients that new data is available.
gz_sonar_tgz_sonar_alloc ()
 Create an interface.
void gz_sonar_free (gz_sonar_t *self)
 Destroy an interface.
int gz_sonar_create (gz_sonar_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id)
int gz_sonar_destroy (gz_sonar_t *self)
int gz_sonar_open (gz_sonar_t *self, gz_client_t *client, const char *id)
 Open an existing interface (used by Gazebo clients).
int gz_sonar_close (gz_sonar_t *self)
 Close the interface (client).
int gz_sonar_lock (gz_sonar_t *self, int blocking)
void gz_sonar_unlock (gz_sonar_t *self)
 Unlock the interface.
gz_stereo_tgz_stereo_alloc ()
 Create an interface.
void gz_stereo_free (gz_stereo_t *self)
 Destroy an interface.
int gz_stereo_create (gz_stereo_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id)
int gz_stereo_destroy (gz_stereo_t *self)
int gz_stereo_open (gz_stereo_t *self, gz_client_t *client, const char *id)
 Open an existing interface (used by Gazebo clients).
int gz_stereo_close (gz_stereo_t *self)
 Close the interface (client).
int gz_stereo_lock (gz_stereo_t *self, int blocking)
void gz_stereo_unlock (gz_stereo_t *self)
 Unlock the interface.
int gz_stereo_post (gz_stereo_t *self)
 Tell clients that new data is available.
gz_truth_tgz_truth_alloc ()
 Create an interface.
void gz_truth_free (gz_truth_t *self)
 Destroy an interface.
int gz_truth_create (gz_truth_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id)
int gz_truth_destroy (gz_truth_t *self)
int gz_truth_open (gz_truth_t *self, gz_client_t *client, const char *id)
 Open an existing interface (used by Gazebo clients).
int gz_truth_close (gz_truth_t *self)
 Close the interface (client).
int gz_truth_lock (gz_truth_t *self, int blocking)
void gz_truth_unlock (gz_truth_t *self)
 Unlock the interface.
int gz_truth_post (gz_truth_t *self)
 Tell clients that new data is available.
void gz_truth_euler_from_quatern (gz_truth_t *self, double *e, double *q)
 Convenience function that converts to Euler(roll,pitch,yaw) from quatern.
void gz_truth_quatern_from_euler (gz_truth_t *self, double *q, double *e)
 Convenience function that converts to quatern from Euler(roll,pitch,yaw).
gz_wifi_tgz_wifi_alloc ()
 Create an interface.
void gz_wifi_free (gz_wifi_t *self)
 Destroy an interface.
int gz_wifi_create (gz_wifi_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id)
int gz_wifi_destroy (gz_wifi_t *self)
int gz_wifi_open (gz_wifi_t *self, gz_client_t *client, const char *id)
 Open an existing interface (used by Gazebo clients).
int gz_wifi_close (gz_wifi_t *self)
 Close the interface (client).
int gz_wifi_lock (gz_wifi_t *self, int blocking)
void gz_wifi_unlock (gz_wifi_t *self)
 Unlock the interface.
gz_joint_tgz_joint_alloc ()
 Create an interface.
void gz_joint_free (gz_joint_t *self)
 Destroy an interface.
int gz_joint_create (gz_joint_t *self, gz_server_t *server, const char *id, const char *model_type, int model_id, int parent_model_id)
int gz_joint_destroy (gz_joint_t *self)
int gz_joint_open (gz_joint_t *self, gz_client_t *client, const char *id)
 Open an existing interface (used by Gazebo clients).
int gz_joint_close (gz_joint_t *self)
 Close the interface (client).
int gz_joint_lock (gz_joint_t *self, int blocking)
void gz_joint_unlock (gz_joint_t *self)
 Unlock the interface.
int gz_joint_post (gz_joint_t *self)
 Tell clients that new data is available.


Last updated 12 September 2005 21:38:45