libgazebo

Detailed Description

A shared memory interface to Gazebo.

Modules

Interfaces

Interfaces to libgazebo.

Classes

class Vec3

Vector 3 class. More...

class Pose

Pose class. More...

class Color

Color class. More...

class Server

Server class. More...

class Client

Client class. More...

class Iface

Base class for all interfaces. More...

class GazeboData

#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

Semaphore key used by Gazebo.

#define GZ_CLIENT_ID_WXGAZEBO   0x08

Semaphore key used by Gazebo.

#define GZ_CLIENT_ID_PLAYER   0x09

Semaphore key used by Gazebo.

#define GAZEBO_MAX_MODEL_TYPE   128

Max length of model type string.

Defines

#define LIBGAZEBO_VERSION   0x070

Interface version number.

Functions

virtual ~Server ()

Destructor.

void Init (int serverId, int force)

Initialize the server.

void Fini ()

Finalize the server.

void Post ()

Tell clients that new data is available.

virtual ~Client ()

Destroy a client.

void Query (int server_id)

Test for the presence of the server.

void Connect (int server_id)

Connect to the server (non-blocking mode).

void ConnectWait (int server_id, int client_id)

Connect to the server (blocking mode).

void Disconnect ()

Disconnect from the server.

void Wait ()

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

virtual ~Iface ()

Destroy an interface.

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

Create the interface (used by Gazebo server).

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

Create the interface (used by Gazebo server).

void Destroy ()

Destroy the interface (server).

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

Open an existing interface.

virtual void Close ()

Close the interface.

int Lock (int blocking)

Lock the interface.

int Unlock ()

Unlock the interface.

void Post ()

Tell clients that new data is available.

int GetOpenCount ()

Get the number of connections.

std::string GetType () const

Get the iface type.

virtual ~SimulationIface ()

Destroy an interface.

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

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

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

Open a simulation interface.

virtual ~AudioIface ()

Destructor.

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

Create the interface (used by Gazebo server).

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

Open an existing interface.

virtual ~CameraIface ()

Destructor.

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

Create the interface (used by Gazebo server).

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

Open an existing interface.

virtual ~PositionIface ()

Destructor.

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

Create the interface (used by Gazebo server).

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

Open an existing interface.

virtual ~Graphics3dIface ()

Destructor.

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

Create the interface (used by Gazebo server).

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

Open an existing interface.

virtual ~LaserIface ()

Destructor.

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

Create the interface (used by Gazebo server).

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

Open an existing interface.

virtual ~FiducialIface ()

Destructor.

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

Create the server.

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

Open the iface.

virtual ~FactoryIface ()

Destructor.

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

Create the server.

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

Open the iface.

virtual ~GripperIface ()

Destructor.

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

Create the server.

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

Open the iface.

virtual ~ActarrayIface ()

Destroy and Interface.

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

Create the interface (used by Gazebo server).

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

Open an existing interface.

virtual ~PTZIface ()

Destructor.

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

Create the server.

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

Open the iface.

virtual ~StereoCameraIface ()

Destructor.

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

Create the server.

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

Open the iface.

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.

std::string type

type of interface

double time

int version

size_t size

int modelId

ID of the model that owns this interface.

int parentModelId

ID of the parent model.

std::string modelType

Type of model that owns this interface.

double simTime

Elapsed simulation time.

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 state

state of the simulation : 0 paused, 1 running -1 not_started/exiting

bool pause

Pause simulation (set by client) should check the state Changes the state of the simulation from pause to play and viceversa.

int reset

Reset simulation (set by client).

int save

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

char model_name [512]

Name of the model to get/set data.

char 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.

double time

Data timestamp.

bool loop

Play in a loop?

float gain

Gain.

bool stream

streaming of the file?

int cmd_play

Play.

int cmd_pause

Pause.

int cmd_stop

Stop.

int cmd_reset

Reset to the beginning.

int state

state given by the server, 1 for playing.

char url [256]

location of the file

Pose audio_pose

3D Pose of the audio, given by the server

AudioData * data

Pointer to the audio 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.

double hfov

Horizontal field of view of the camera in radians.

Pose camera_pose

Pose of the camera.

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).

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 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

Current command for the gripper.

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 gripper 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.

unsigned int actuators_count

The number of actuators in the array.

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)

bool new_cmd

True if new command.

unsigned int joint_mode [16]

position / speed comand

ActarrayData * data

Pointer to the act array data.

double pan

Measured pan angle (radians).

double tilt

Measured tilt angle (radians).

double zoom

Measured field of view (radians).

double cmd_pan

Commanded pan angle (radians).

double cmd_tilt

Commanded tilt angle (radians).

double cmd_zoom

Commanded field of view (radians).

PTZData * data

Pointer to the ptz data.

unsigned int width

Width of image in pixels.

unsigned int height

Height of image in pixels.

float farClip

Far clip distance in meters.

float nearClip

Near clip distance in meters.

unsigned int left_rgb_size

Left image size.

unsigned char left_rgb [640 *480 *3]

left image (R8G8B8)

unsigned int right_rgb_size

Right image size.

unsigned char right_rgb [640 *480 *3]

Right image (R8G8B8).

unsigned int left_disparity_size

Left disparity size.

float left_disparity [640 *480]

Left disparity (float).

unsigned int right_disparity_size

Right Disparity size.

float right_disparity [640 *480]

Right disparity (float).

StereoCameraData * data

Pointer to the stereo data.

Define Documentation

#define GAZEBO_MAX_MODEL_TYPE 128

Max length of model type string.

For internal use only.

#define GZ_CLIENT_ID_PLAYER 0x09

Semaphore key used by Gazebo.

The client object is used by Gazebo clients to establish a connection with a running server.

#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

Semaphore key used by Gazebo.

The client object is used by Gazebo clients to establish a connection with a running server.

#define GZ_CLIENT_ID_WXGAZEBO 0x08

Semaphore key used by Gazebo.

The client object is used by Gazebo clients to establish a connection with a running server.

#define GZ_SEM_KEY 0x135135FA

Semaphore key used by Gazebo.

The client object is used by Gazebo clients to establish a connection with a running server.

Function Documentation

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]`