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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_t *	gz_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_t *	gz_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_t *	gz_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_t *	gz_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_t *	gz_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_t *	gz_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_t *	gz_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_t *	gz_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_t *	gz_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_t *	gz_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_t *	gz_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_t *	gz_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_t *	gz_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_t *	gz_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_t *	gz_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_t *	gz_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_t *	gz_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_t *	gz_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_t *	gz_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.

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Last updated 12 September 2005 21:38:45