Simulator Class Reference

sample RT component which has one data input port and one data output port More...

#include <Simulator.h>

Inheritance diagram for Simulator:

List of all members.

Public Member Functions
void	addCollisionCheckPair (BodyRTC *b1, BodyRTC *b2)
void	appendLog ()
void	checkCollision (OpenHRP::CollisionSequence &collisions)
void	checkCollision ()
void	clear ()
void	init (Project &prj, BodyFactory &factory)
void	init (Project &prj, GLscene *i_scene, RTC::CorbaNaming &naming)
void	kinematicsOnly (bool flag)
virtual RTC::ReturnCode_t	onActivated (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t	onDeactivated (RTC::UniqueId ec_id)
bool	oneStep ()
bool	oneStep ()
virtual RTC::ReturnCode_t	onExecute (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t	onInitialize ()
void	realTime (bool flag)
void	setLogTimeStep (double time)
void	setTotalTime (double time)
	Simulator (LogManager< SceneState > *i_log)
	Simulator (RTC::Manager *manager)
	Constructor.
double	totalTime ()
virtual	~Simulator ()
	Destructor.
Public Attributes
std::vector< BodyRTCPtr >	bodies
GLscene *	scene
OpenHRP::WorldState	state
double	totalTime
hrp::World < hrp::ConstraintForceSolver >	world
Protected Attributes
OpenHRP::SceneState	m_sceneState
OutPort< OpenHRP::SceneState >	m_sceneStateOut
Private Attributes
bool	adjustTime
struct timeval	beginTime
OpenHRP::CollisionSequence	collisions
int	dummy
LogManager< SceneState > *	log
std::vector< RTCBodyPtr >	m_bodies
bool	m_kinematicsOnly
double	m_logTimeStep
double	m_nextLogTime
OpenHRP::OnlineViewer_var	m_olv
std::string	m_project
OpenHRP::WorldState	m_state
double	m_totalTime
bool	m_useOLV
hrp::World < hrp::ConstraintForceSolver >	m_world
std::vector < hrp::ColdetLinkPairPtr >	pairs
std::vector< ClockReceiver >	receivers
std::deque< struct timeval >	startTimes
SceneState	state
TimeMeasure	tm_collision
TimeMeasure	tm_control
TimeMeasure	tm_dynamics

---

Detailed Description

sample RT component which has one data input port and one data output port

Definition at line 43 of file rtc/Simulator/Simulator.h.

---

Constructor & Destructor Documentation

Simulator::Simulator

(

RTC::Manager *

manager

)

Constructor.

Parameters:

manager

pointer to the Manager

Definition at line 41 of file rtc/Simulator/Simulator.cpp.

Simulator::~Simulator

(

)

[virtual]

Destructor.

Definition at line 50 of file rtc/Simulator/Simulator.cpp.

Simulator::Simulator

(

LogManager< SceneState > *

i_log

)

Definition at line 4 of file util/simulator/Simulator.cpp.

---

Member Function Documentation

void Simulator::addCollisionCheckPair	(	BodyRTC *	b1,
		BodyRTC *	b2
	)

Definition at line 203 of file util/simulator/Simulator.cpp.

void Simulator::appendLog

(

)

Definition at line 34 of file util/simulator/Simulator.cpp.

void Simulator::checkCollision

(

OpenHRP::CollisionSequence &

collisions

)

Definition at line 48 of file util/simulator/Simulator.cpp.

void Simulator::checkCollision

(

)

Definition at line 43 of file util/simulator/Simulator.cpp.

void Simulator::clear

(

void

)

Reimplemented in PySimulator.

Definition at line 188 of file util/simulator/Simulator.cpp.

void Simulator::init	(	Project &	prj,
		BodyFactory &	factory
	)

Definition at line 9 of file util/simulator/Simulator.cpp.

void Simulator::init	(	Project &	prj,
		GLscene *	i_scene,
		RTC::CorbaNaming &	naming
	)		[inline]

Definition at line 38 of file SimulatorUtil.h.

void Simulator::kinematicsOnly

(

bool

flag

)

Definition at line 245 of file util/simulator/Simulator.cpp.

RTC::ReturnCode_t Simulator::onActivated

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 110 of file rtc/Simulator/Simulator.cpp.

RTC::ReturnCode_t Simulator::onDeactivated

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 261 of file rtc/Simulator/Simulator.cpp.

bool Simulator::oneStep

(

)

[virtual]

Reimplemented from ThreadedObject.

Definition at line 90 of file util/simulator/Simulator.cpp.

bool Simulator::oneStep

(

)

[inline, virtual]

Reimplemented from ThreadedObject.

Definition at line 48 of file SimulatorUtil.h.

RTC::ReturnCode_t Simulator::onExecute

(

RTC::UniqueId

ec_id

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 267 of file rtc/Simulator/Simulator.cpp.

RTC::ReturnCode_t Simulator::onInitialize

(

void

)

[virtual]

Reimplemented from RTC::RTObject_impl.

Definition at line 56 of file rtc/Simulator/Simulator.cpp.

void Simulator::realTime

(

bool

flag

)

[inline]

Definition at line 23 of file util/simulator/Simulator.h.

void Simulator::setLogTimeStep

(

double

time

)

[inline]

Definition at line 26 of file util/simulator/Simulator.h.

void Simulator::setTotalTime

(

double

time

)

[inline]

Definition at line 24 of file util/simulator/Simulator.h.

double Simulator::totalTime

(

)

[inline]

Definition at line 25 of file util/simulator/Simulator.h.

---

Member Data Documentation

bool Simulator::adjustTime [private]

Definition at line 39 of file util/simulator/Simulator.h.

struct timeval Simulator::beginTime [private]

Definition at line 41 of file util/simulator/Simulator.h.

std::vector<BodyRTCPtr> Simulator::bodies

Definition at line 85 of file SimulatorUtil.h.

OpenHRP::CollisionSequence Simulator::collisions [private]

Definition at line 35 of file util/simulator/Simulator.h.

int Simulator::dummy [private]

Definition at line 147 of file rtc/Simulator/Simulator.h.

LogManager<SceneState>* Simulator::log [private]

Reimplemented in PySimulator.

Definition at line 32 of file util/simulator/Simulator.h.

std::vector<RTCBodyPtr> Simulator::m_bodies [private]

Definition at line 141 of file rtc/Simulator/Simulator.h.

bool Simulator::m_kinematicsOnly [private]

Definition at line 143 of file rtc/Simulator/Simulator.h.

double Simulator::m_logTimeStep [private]

Definition at line 37 of file util/simulator/Simulator.h.

double Simulator::m_nextLogTime [private]

Definition at line 37 of file util/simulator/Simulator.h.

OpenHRP::OnlineViewer_var Simulator::m_olv [private]

Definition at line 145 of file rtc/Simulator/Simulator.h.

std::string Simulator::m_project [private]

Definition at line 142 of file rtc/Simulator/Simulator.h.

OpenHRP::SceneState Simulator::m_sceneState [protected]

Definition at line 119 of file rtc/Simulator/Simulator.h.

OutPort<OpenHRP::SceneState> Simulator::m_sceneStateOut [protected]

Definition at line 120 of file rtc/Simulator/Simulator.h.

OpenHRP::WorldState Simulator::m_state [private]

Definition at line 146 of file rtc/Simulator/Simulator.h.

double Simulator::m_totalTime [private]

Definition at line 37 of file util/simulator/Simulator.h.

bool Simulator::m_useOLV [private]

Definition at line 144 of file rtc/Simulator/Simulator.h.

hrp::World<hrp::ConstraintForceSolver> Simulator::m_world [private]

Definition at line 140 of file rtc/Simulator/Simulator.h.

std::vector<hrp::ColdetLinkPairPtr> Simulator::pairs [private]

Definition at line 34 of file util/simulator/Simulator.h.

std::vector< ClockReceiver > Simulator::receivers [private]

Definition at line 33 of file util/simulator/Simulator.h.

GLscene* Simulator::scene

Reimplemented in PySimulator.

Definition at line 89 of file SimulatorUtil.h.

std::deque<struct timeval> Simulator::startTimes [private]

Definition at line 40 of file util/simulator/Simulator.h.

SceneState Simulator::state [private]

Definition at line 36 of file util/simulator/Simulator.h.

OpenHRP::WorldState Simulator::state

Definition at line 87 of file SimulatorUtil.h.

TimeMeasure Simulator::tm_collision [private]

Definition at line 38 of file util/simulator/Simulator.h.

TimeMeasure Simulator::tm_control [private]

Definition at line 38 of file util/simulator/Simulator.h.

TimeMeasure Simulator::tm_dynamics [private]

Definition at line 38 of file util/simulator/Simulator.h.

double Simulator::totalTime

Definition at line 88 of file SimulatorUtil.h.

hrp::World<hrp::ConstraintForceSolver> Simulator::world

Definition at line 84 of file SimulatorUtil.h.

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The documentation for this class was generated from the following files:

• rtc/Simulator/Simulator.h
• util/simulator/Simulator.h
• SimulatorUtil.h
• rtc/Simulator/Simulator.cpp
• util/simulator/Simulator.cpp