#include <World.h>

Inheritance diagram for mvsim::World:

Classes
struct	TGUI_Options
struct	TGUIKeyEvent
struct	TUpdateGUIParams
struct	VehicleVisitorBase
struct	WorldElementVisitorBase
Public Types
Public types
typedef std::multimap < std::string, VehicleBase * >	TListVehicles
typedef std::list < WorldElementBase * >	TListWorldElements
	getListOfVehicles()
typedef std::multimap < std::string, Block * >	TListBlocks
Public Member Functions
Initialization, simulation set-up
	World ()
	Default ctor: inits an empty world.
	~World ()
	Dtor.
void	clear_all (bool acquire_mt_lock=true)
void	load_from_XML (const std::string &xml_text, const std::string &fileNameForPath=std::string("."))
Simulation execution
double	get_simul_time () const
	Simulation wall-clock time.
double	get_simul_timestep () const
	Simulation fixed-time interval for numerical integration.
void	set_simul_timestep (double timestep)
	Simulation fixed-time interval for numerical integration.
double	get_gravity () const
void	set_gravity (double accel)
void	run_simulation (double dt)
void	update_GUI (TUpdateGUIParams *params=NULL)
bool	is_GUI_open () const
	Forces closing the GUI window, if any.
void	close_GUI ()
	a previous call to update_GUI()
Access inner working objects
getListOfBlocks()
b2World *	getBox2DWorld ()
const b2World *	getBox2DWorld () const
b2Body *	getBox2DGroundBody ()
const TListVehicles &	getListOfVehicles () const
TListVehicles &	getListOfVehicles ()
const TListBlocks &	getListOfBlocks () const
TListBlocks &	getListOfBlocks ()
const TListWorldElements &	getListOfWorldElements () const
mrpt::utils::CTimeLogger &	getTimeLogger ()
std::string	resolvePath (const std::string &in_path) const
Visitors API
void	runVisitorOnVehicles (VehicleVisitorBase &v)
void	runVisitorOnWorldElements (WorldElementVisitorBase &v)
Optional user hooks
virtual void	onNewObservation (const VehicleBase &veh, const mrpt::slam::CObservation *obs)
Private Member Functions
void	internal_one_timestep (double dt)
Private Attributes
b2Body *	m_b2_ground_body
	Used to declare friction between vehicles-ground.
int	m_b2d_pos_iters
	Velocity and position iteration count (Box2D)
int	m_b2d_vel_iters
	integration.
std::string	m_base_path
	Path from which to take relative directories.
TListBlocks	m_blocks
b2World *	m_box2d_world
	objects from multithreading access.
double	m_gravity
TGUI_Options	m_gui_options
mrpt::gui::CDisplayWindow3D::Ptr	m_gui_win
double	m_simul_time
	evaluate weights for friction, etc.
double	m_simul_timestep
mrpt::utils::CTicTac	m_timer_iteration
mrpt::utils::CTimeLogger	m_timlogger
TListVehicles	m_vehicles
std::mutex	m_world_cs
	first time the GUI window is created.
TListWorldElements	m_world_elements
Friends
class	Block
class	VehicleBase

Detailed Description

Simulation happens inside a World object. This is the central class for usage from user code, running the simulation, loading XML models, managing GUI visualization, etc. The ROS node acts as a bridge between this class and the ROS subsystem.

Definition at line 39 of file World.h.

Member Typedef Documentation

typedef std::multimap<std::string, Block*> mvsim::World::TListBlocks

Map 'block-name' => block object. See

Definition at line 144 of file World.h.

typedef std::multimap<std::string, VehicleBase*> mvsim::World::TListVehicles

Map 'vehicle-name' => vehicle object. See

Definition at line 139 of file World.h.

typedef std::list<WorldElementBase*> mvsim::World::TListWorldElements

getListOfVehicles()

See getListOfWorldElements()

Definition at line 142 of file World.h.

Constructor & Destructor Documentation

World::World ( )

Default ctor: inits an empty world.

Definition at line 23 of file World.cpp.

World::~World ( )

Dtor.

Definition at line 36 of file World.cpp.

Member Function Documentation

void World::clear_all ( bool acquire_mt_lock = true )

Resets the entire

Definition at line 44 of file World.cpp.

void World::close_GUI ( )

a previous call to update_GUI()

Forces closing the GUI window, if any.

Definition at line 56 of file World_gui.cpp.

double mvsim::World::get_gravity ( ) const [inline]

Gravity acceleration (Default=9.8 m/s^2). Used to evaluate weights for friction, etc.

Definition at line 85 of file World.h.

double mvsim::World::get_simul_time ( ) const [inline]

Simulation wall-clock time.

Definition at line 71 of file World.h.

double mvsim::World::get_simul_timestep ( ) const [inline]

Simulation fixed-time interval for numerical integration.

Definition at line 76 of file World.h.

b2Body* mvsim::World::getBox2DGroundBody ( ) [inline]

Definition at line 152 of file World.h.

b2World* mvsim::World::getBox2DWorld ( ) [inline]

Definition at line 150 of file World.h.

const b2World* mvsim::World::getBox2DWorld ( ) const [inline]

Definition at line 151 of file World.h.

const TListBlocks& mvsim::World::getListOfBlocks ( ) const [inline]

Definition at line 155 of file World.h.

TListBlocks& mvsim::World::getListOfBlocks ( ) [inline]

Definition at line 156 of file World.h.

const TListVehicles& mvsim::World::getListOfVehicles ( ) const [inline]

Definition at line 153 of file World.h.

TListVehicles& mvsim::World::getListOfVehicles ( ) [inline]

Definition at line 154 of file World.h.

const TListWorldElements& mvsim::World::getListOfWorldElements ( ) const [inline]

Definition at line 157 of file World.h.

mrpt::utils::CTimeLogger& mvsim::World::getTimeLogger ( ) [inline]

Definition at line 162 of file World.h.

void World::internal_one_timestep ( double dt ) [private]

Runs one individual time step

Definition at line 110 of file World.cpp.

bool World::is_GUI_open ( ) const

Forces closing the GUI window, if any.

Return true if the GUI window is open, after

Definition at line 54 of file World_gui.cpp.

void World::load_from_XML	(	const std::string &	xml_text,
		const std::string &	fileNameForPath = `std::string(".")`
	)

simulation environment to an empty world. acquire_mt_lock determines whether to lock the multithreading semaphore before (set to false only if it's already acquired). Load an entire world description into this object from a specification in XML format.

Parameters:

[in] fileNameForPath Optionally, provide the full path to an XML file from which to take relative paths.

Exceptions:

std::exception On any error, with what() giving a descriptive error message

Load an entire world description into this object from a specification in XML format.

Exceptions:

std::exception On any error, with what() giving a descriptive error message

Definition at line 33 of file World_load_xml.cpp.

virtual void mvsim::World::onNewObservation	(	const VehicleBase &	veh,
		const mrpt::slam::CObservation *	obs
	)		`[inline, virtual]`

Definition at line 192 of file World.h.

std::string World::resolvePath ( const std::string & s_in ) const

Replace macros, prefix the base_path if input filename is relative, etc.

Definition at line 211 of file World.cpp.

void World::run_simulation ( double dt )

Runs the simulation for a given time interval (in seconds)

Note:: The minimum simulation time is the timestep set (e.g. via set_simul_timestep()), even if time advanced further than the provided "dt".

Runs the simulation for a given time interval (in seconds)

Definition at line 90 of file World.cpp.

void World::runVisitorOnVehicles ( VehicleVisitorBase & v )

Run the user-provided visitor on each vehicle

Definition at line 241 of file World.cpp.

void World::runVisitorOnWorldElements ( WorldElementVisitorBase & v )

Run the user-provided visitor on each world element

Definition at line 249 of file World.cpp.

void mvsim::World::set_gravity ( double accel ) [inline]

Gravity acceleration (Default=9.8 m/s^2). Used to evaluate weights for friction, etc.

Definition at line 90 of file World.h.

void mvsim::World::set_simul_timestep ( double timestep ) [inline]

Simulation fixed-time interval for numerical integration.

Definition at line 80 of file World.h.

void World::update_GUI ( TUpdateGUIParams * guiparams = NULL )

Updates (or sets-up upon first call) the GUI visualization of the scene.

Parameters:

inout] params Optional inputs/outputs to the GUI update process. See struct for details.

Note:: This method is prepared to be called concurrently with the simulation, and doing so is recommended to assure a smooth multi-threading simulation.

Updates (or sets-up upon first call) the GUI visualization of the scene.

Note:: This method is prepared to be called concurrently with the simulation, and doing so is recommended to assure a smooth multi-threading simulation.

Definition at line 61 of file World_gui.cpp.