在 Gazebo 中,Word
类可以认为是场景容器,包含了仿真场景中的所有对象。
/// \class World World.hh physics/physics.hh
/// \brief The world provides access to all other object within a simulated
/// environment.
///
/// The World is the container for all models and their components
/// (links, joints, sensors, plugins, etc), and WorldPlugin instances.
/// Many core function are also handled in the World, including physics
/// update, model updates, and message processing.
Word
类参见 gazebo/gazebo/physics/World.hh,其中主要为成员函数的定义。而其中的成员变量,即仿真场景中的对象,则包含在 WordPrivate
中,参见gazebo/gazebo/physics/WorldPrivate.hh
在 Word
类中,定义了大量成员方法,具体来说,较为重要的有:
(1)``