# gazebo / gazebo / physics / World.hh

The branch 'logging_gui' does not exist.
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Must specify a unique name. /// \param[in] _name Name of the world. public: explicit World(const std::string &_name = ""); /// \brief Destructor. public: ~World(); /// \brief Load the world using SDF parameters. /// /// Load a world from and SDF pointer. /// \param[in] _sdf SDF parameters. public: void Load(sdf::ElementPtr _sdf); /// \brief Save a world to a file. /// /// Save the current world and its state to a file. /// \param[in] _filename Name of the file to save into. public: void Save(const std::string &_filename); /// \brief Initialize the world. /// /// This is called after Load. public: void Init(); /// \brief Run the world in a thread. /// /// Run the update loop. public: void Run(); /// \brief Stop the world. /// /// Stop the update loop. public: void Stop(); /// \brief Finalize the world. /// /// Call this function to tear-down the world. public: void Fini(); /// \brief Remove all entities from the world. public: void Clear(); /// \brief Get the name of the world. /// \return The name of the world. public: std::string GetName() const; /// \brief Return the physics engine. /// /// Get a pointer to the physics engine used by the world. /// \return Pointer to the physics engine. public: PhysicsEnginePtr GetPhysicsEngine() const; /// \brief Get the number of models. /// \return The number of models in the World. public: unsigned int GetModelCount() const; /// \brief Get a model based on an index. /// /// Get a Model using an index, where index must be greater than zero /// and less than World::GetModelCount() /// \param[in] _index The index of the model [0..GetModelCount) /// \return A pointer to the Model. NULL if _index is invalid. public: ModelPtr GetModel(unsigned int _index) const; /// \brief Get a list of all the models. /// \return A list of all the Models in the world. public: Model_V GetModels() const; /// \brief Reset with options. /// /// The _type parameter specifies which type of eneities to reset. See /// Base::EntityType. /// \param[in] _type The type of reset. public: void ResetEntities(Base::EntityType _type = Base::BASE); /// \brief Reset simulation time back to zero. public: void ResetTime(); /// \brief Reset time and model poses, configurations in simulation. public: void Reset(); /// \brief Get the selected Entity. /// /// The selected entity is set via the GUI. /// \return A point to the Entity, NULL if nothing is selected. public: EntityPtr GetSelectedEntity() const; /// \brief Print Entity tree. /// /// Prints alls the entities to stdout. public: void PrintEntityTree(); /// \brief Get the world simulation time, note if you want the PC /// wall clock call common::Time::GetWallTime. /// \return The current simulation time public: common::Time GetSimTime() const; /// \brief Set the sim time. /// \param[in] _t The new simulation time public: void SetSimTime(const common::Time &_t); /// \brief Get the amount of time simulation has been paused. /// \return The pause time. public: common::Time GetPauseTime() const; /// \brief Get the wall time simulation was started.. /// \return The start time. public: common::Time GetStartTime() const; /// \brief Get the real time (elapsed time). /// \return The real time. public: common::Time GetRealTime() const; /// \brief Returns the state of the simulation true if paused. /// \return True if paused. public: bool IsPaused() const; /// \brief Set whether the simulation is paused. /// \param[in] _p True pauses the simulation. False runs the simulation. public: void SetPaused(bool _p); /// \brief Get an element by name. /// /// Searches the list of entities, and return a pointer to the model /// with a matching _name. /// \param[in] _name The name of the Model to find. /// \return A pointer to the entity, or NULL if no entity was found. public: BasePtr GetByName(const std::string &_name); /// \brief Get a model by name. /// /// This function is the same as GetByName, but limits the search to /// only models. /// \param[in] _name The name of the Model to find. /// \return A pointer to the Model, or NULL if no model was found. public: ModelPtr GetModel(const std::string &_name); /// \brief Get a pointer to an Entity based on a name. /// /// This function is the same as GetByName, but limits the search to /// only Entities. /// \param[in] _name The name of the Entity to find. /// \return A pointer to the Entity, or NULL if no Entity was found. public: EntityPtr GetEntity(const std::string &_name); /// \brief Get the nearest model below a point. /// /// This function makes use of World::GetEntityBelowPoint. /// \param[in] _pt The 3D point to search below. /// \return A pointer to nearest Model, NULL if none is found. public: ModelPtr GetModelBelowPoint(const math::Vector3 &_pt); /// \brief Get the nearest entity below a point. /// /// Projects a Ray down (-Z axis) starting at the given point. The /// first entity hit by the Ray is returned. /// \param[in] _pt The 3D point to search below /// \return A pointer to nearest Entity, NULL if none is found. public: EntityPtr GetEntityBelowPoint(const math::Vector3 &_pt); /// \brief Set the current world state. /// \param _state The state to set the World to. public: void SetState(const WorldState &_state); /// \brief Insert a model from an SDF file. /// /// Spawns a model into the world base on and SDF file. /// \param[in] _sdfFilename The name of the SDF file (including path). public: void InsertModelFile(const std::string &_sdfFilename); /// \brief Insert a model from an SDF string. /// /// Spawns a model into the world base on and SDF string. /// \param[in] _sdfString A string containing valid SDF markup. public: void InsertModelString(const std::string &_sdfString); /// \brief Insert a model using SDF. /// /// Spawns a model into the world base on and SDF object. /// \param[in] _sdf A reference to an SDF object. public: void InsertModelSDF(const sdf::SDF &_sdf); /// \brief Return a version of the name with "::" removed /// \param[in] _name Usually the name of an entity. /// \return The stripped world name. public: std::string StripWorldName(const std::string &_name) const; /// \brief Enable all links in all the models. /// /// Enable is a physics concept. Enabling means that the physics /// engine should update an entity. public: void EnableAllModels(); /// \brief Disable all links in all the models. /// /// Disable is a physics concept. Disabling means that the physics /// engine should not update an entity. public: void DisableAllModels(); /// \brief Step callback. /// \param[in] _steps The number of steps the World should take. public: void StepWorld(int _steps); /// \brief Load a plugin /// \param[in] _filename The filename of the plugin. /// \param[in] _name A unique name for the plugin. /// \param[in] _sdf The SDF to pass into the plugin. public: void LoadPlugin(const std::string &_filename, const std::string &_name, sdf::ElementPtr _sdf); /// \brief Remove a running plugin. /// \param[in] _name The unique name of the plugin to remove. public: void RemovePlugin(const std::string &_name); /// \brief Get the set world pose mutex. /// \return Pointer to the mutex. public: boost::mutex *GetSetWorldPoseMutex() const {return this->setWorldPoseMutex;} /// \brief check if physics engine is enabled/disabled. /// \param True if the physics engine is enabled. public: bool GetEnablePhysicsEngine() {return this->enablePhysicsEngine;} /// \brief enable/disable physics engine during World::Update. /// \param[in] _enable True to enable the physics engine. public: void EnablePhysicsEngine(bool _enable) {this->enablePhysicsEngine = _enable;} /// \brief Update the state SDF value from the current state. public: void UpdateStateSDF(); /// \brief Return true if the world has been loaded. /// \return True if World::Load has completed. public: bool IsLoaded() const; /// \brief Publish pose updates for a model. /// This list of models to publish is processed and cleared once every /// iteration. /// \param[in] _modelName Name of the model to publish. public: void PublishModelPose(const std::string &_modelName); /// \cond /// This is an internal function. /// \brief Get a model by id. /// /// Each Entity has a unique ID, this function finds a Model with /// a passed in _id. /// \param[in] _id The id of the Model /// \return A pointer to the model, or NULL if no Model was found. private: ModelPtr GetModelById(unsigned int _id); /// \endcond /// \brief Load all plugins. /// /// Load all plugins specified in the SDF for the model. private: void LoadPlugins(); /// \brief Create and load all entities. /// \param[in] _sdf SDF element. /// \param[in] _parent Parent of the model to load. private: void LoadEntities(sdf::ElementPtr _sdf, BasePtr _parent); /// \brief Load a model. /// \param[in] _sdf SDF element containing the Model description. /// \param[in] _parent Parent of the model. /// \return Pointer to the newly created Model. private: ModelPtr LoadModel(sdf::ElementPtr _sdf, BasePtr _parent); /// \brief Load an actor. /// \param[in] _sdf SDF element containing the Actor description. /// \param[in] _parent Parent of the Actor. /// \return Pointer to the newly created Actor. private: ActorPtr LoadActor(sdf::ElementPtr _sdf, BasePtr _parent); /// \brief Load a road. /// \param[in] _sdf SDF element containing the Road description. /// \param[in] _parent Parent of the Road. /// \return Pointer to the newly created Road. private: RoadPtr LoadRoad(sdf::ElementPtr _sdf, BasePtr _parent); /// \brief Function to run physics. Used by physicsThread. private: void RunLoop(); /// \brief Step the world once. private: void Step(); /// \brief Step the world once by reading from a log file. private: void LogStep(); /// \brief Update the world. private: void Update(); /// \brief Pause callback. /// \param[in] _p True if paused. private: void OnPause(bool _p); /// \brief Step callback. private: void OnStep(); /// \brief Called when a world control message is received. /// \param[in] _data The world control message. private: void OnControl(ConstWorldControlPtr &_data); /// \brief Called when a log control message is received. /// \param[in] _data The log control message. private: void OnLogControl(ConstLogControlPtr &_data); /// \brief Called when a request message is received. /// \param[in] _msg The request message. private: void OnRequest(ConstRequestPtr &_msg); /// \brief Set the selected entity. /// \param[in] _name Name of the entity to select. private: void SetSelectedEntityCB(const std::string &_name); /// \brief Construct a scene message from the known world state /// \param[out] _scene Scene message to build. /// \param[in] _entity Pointer to entity from which to build the scene /// message. private: void BuildSceneMsg(msgs::Scene &_scene, BasePtr _entity); /// \brief Logs joint information. /// \param[in] _msg Incoming joint message. private: void JointLog(ConstJointPtr &_msg); /// \brief Called when a factory message is received. /// \param[in] _data The factory message. private: void OnFactoryMsg(ConstFactoryPtr &_data); /// \brief Called when a model message is received. /// \param[in] _msg The model message. private: void OnModelMsg(ConstModelPtr &_msg); /// \brief TBB version of model updating. private: void ModelUpdateTBB(); /// \brief Single loop verison of model updating. private: void ModelUpdateSingleLoop(); /// \brief Helper function to load a plugin from SDF. /// \param[in] _sdf SDF plugin description. private: void LoadPlugin(sdf::ElementPtr _sdf); /// \brief Fills a model message with data from a model /// \param[out] _msg Model message to fill. /// \param[in] _model Pointer to the model to get the data from. private: void FillModelMsg(msgs::Model &_msg, ModelPtr _model); /// \brief Process all recieved entity messages. /// Must only be called from the World::ProcessMessages function. private: void ProcessEntityMsgs(); /// \brief Process all recieved request messages. /// Must only be called from the World::ProcessMessages function. private: void ProcessRequestMsgs(); /// \brief Process all recieved factory messages. /// Must only be called from the World::ProcessMessages function. private: void ProcessFactoryMsgs(); /// \brief Process all recieved model messages. /// Must only be called from the World::ProcessMessages function. private: void ProcessModelMsgs(); /// \brief Log callback. This is where we write out state info. private: bool OnLog(std::ostringstream &_stream); /// \brief Process all incoming messages. private: void ProcessMessages(); /// \brief Publish the world stats message. private: void PublishWorldStats(); /// \brief Publish log status message. private: void PublishLogStatus(); /// \brief For keeping track of time step throttling. private: common::Time prevStepWallTime; /// \brief Pointer the physics engine. private: PhysicsEnginePtr physicsEngine; /// \brief The root of all entities in the world. private: BasePtr rootElement; /// \brief thread in which the world is updated. private: boost::thread *thread; /// \brief True to stop the world from running. private: bool stop; /// \brief The entity currently selected by the user. private: EntityPtr selectedEntity; /// \brief Incoming message buffer. private: std::vector messages; /// \brief Name of the world. private: std::string name; /// \brief Current simulation time. private: common::Time simTime; /// \brief Amount of time simulation has been paused. private: common::Time pauseTime; /// \brief Clock time when simulation was started. private: common::Time startTime; /// \brief True if simulation is paused. private: bool pause; /// \brief Number of steps in increment by. private: int stepInc; /// \brief All the event connections. private: event::Connection_V connections; /// \brief Transportation node. private: transport::NodePtr node; /// \brief Publisher for selection messages. private: transport::PublisherPtr selectionPub; /// \brief Publisher for world statistics messages. private: transport::PublisherPtr statPub; /// \brief Publisher for request response messages. private: transport::PublisherPtr responsePub; /// \brief Publisher for model messages. private: transport::PublisherPtr modelPub; /// \brief Publisher for gui messages. private: transport::PublisherPtr guiPub; /// \brief Publisher for light messages. private: transport::PublisherPtr lightPub; /// \brief Publisher for pose messages. private: transport::PublisherPtr posePub; /// \brief Subscriber to world control messages. private: transport::SubscriberPtr controlSub; /// \brief Subscriber to log control messages. private: transport::SubscriberPtr logControlSub; /// \brief Publisher of log status messages. private: transport::PublisherPtr logStatusPub; /// \brief Subscriber to factory messages. private: transport::SubscriberPtr factorySub; /// \brief Subscriber to joint messages. private: transport::SubscriberPtr jointSub; /// \brief Subscriber to model messages. private: transport::SubscriberPtr modelSub; /// \brief Subscriber to request messages. private: transport::SubscriberPtr requestSub; /// \brief Outgoing world statistics message. private: msgs::WorldStatistics worldStatsMsg; /// \brief Outgoing scene message. private: msgs::Scene sceneMsg; /// \brief Function pointer to the model update function. private: void (World::*modelUpdateFunc)(); /// \brief Period used to send out world statistics. private: common::Time statPeriod; /// \brief Last time a world statistics message was sent. private: common::Time prevStatTime; /// \brief Time at which pause started. private: common::Time pauseStartTime; /// \brief Used to compute a more accurate real time value. private: common::Time realTimeOffset; /// \brief Mutext to protect incoming message buffers. private: boost::recursive_mutex *receiveMutex; /// \brief Mutex to protext loading of models. private: boost::mutex *loadModelMutex; /// \TODO: Add an accessor for this, and make it private /// Used in Entity.cc. /// Entity::Reset to call Entity::SetWorldPose and Entity::SetRelativePose /// Entity::SetWorldPose to call Entity::setWorldPoseFunc private: boost::mutex *setWorldPoseMutex; /// \brief Used by World classs in following calls: /// World::Step for then entire function /// World::StepWorld for changing World::stepInc, /// and waits on setpInc on World::stepIhc as it's decremented. /// World::Reset while World::ResetTime, entities, World::physicsEngine /// World::SetPaused to assign world::pause private: boost::recursive_mutex *worldUpdateMutex; /// \brief THe world's SDF values. private: sdf::ElementPtr sdf; /// \brief All the plugins. private: std::vector plugins; /// \brief List of entities to delete. private: std::list deleteEntity; /// \brief when physics engine makes an update and changes a link pose, /// this flag is set to trigger Entity::SetWorldPose on the /// physics::Link in World::Update. public: std::list dirtyPoses; /// \brief Request message buffer. private: std::list requestMsgs; /// \brief Factory message buffer. private: std::list factoryMsgs; /// \brief Model message buffer. private: std::list modelMsgs; /// \brief True to reset the world on next update. private: bool needsReset; /// \brief True to reset everything. private: bool resetAll; /// \brief True to reset only the time. private: bool resetTimeOnly; /// \brief True to reset only model poses. private: bool resetModelOnly; /// \brief True if the world has been initialized. private: bool initialized; /// \brief True if the world has been loaded. private: bool loaded; /// \brief True to enable the physics engine. private: bool enablePhysicsEngine; /// \brief Ray used to test for collisions when placing entities. private: RayShapePtr testRay; /// \brief True if the plugins have been loaded. private: bool pluginsLoaded; /// \brief sleep timing error offset due to clock wake up latency private: common::Time sleepOffset; /// \brief Last time incoming messages were processed. private: common::Time prevProcessMsgsTime; /// \brief Period over which messages should be processed. private: common::Time processMsgsPeriod; /// \brief Buffer of states. private: std::deque states; private: WorldState prevStates[2]; private: int stateToggle; private: sdf::ElementPtr logPlayStateSDF; private: WorldState logPlayState; /// \brief Store a factory SDF object to improve speed at which /// objects are inserted via the factory. private: sdf::SDFPtr factorySDF; /// \brief The list of pose messages to output. private: std::set publishModelPoses; /// \brief Info passed through the WorldUpdateBegin event. private: common::UpdateInfo updateInfo; /// \brief The number of simulation iterations. private: uint64_t iterations; }; /// \} } } #endif