PySimulator Class Reference

#include <PySimulator.h>

Inheritance diagram for PySimulator:

Public Member Functions
void	addCollisionCheckPair (PyBody *b1, PyBody *b2)
PyObject *	bodies ()
void	capture (std::string)
void	clear ()
PyBody *	createBody (std::string name)
void	endless (bool flag)
PyBody *	getBody (std::string name)
void	initRTCmanager ()
void	initRTCmanager (PyObject *pyo)
void	initRTCmanager (int argc, char **argv)
void	initViewer ()
PyBody *	loadBody (std::string name, std::string url)
bool	loadProject (std::string fname)
unsigned int	logLength ()
double	maxLogLength ()
void	notifyChanged ()
void	pause ()
void	play ()
	PySimulator ()
	PySimulator (PyObject *pyo)
void	reset ()
void	setMaxLogLength (double len)
void	setShowSensors (bool flag)
void	setUseBBox (bool flag)
void	setWindowSize (int s)
bool	showSensors ()
void	simulate ()
void	simulate (double time)
void	start (double time)
	~PySimulator ()
Public Member Functions inherited from Simulator
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. More...
double	totalTime ()
virtual	~Simulator ()
	Destructor. More...
Public Member Functions inherited from hrp::World< hrp::ConstraintForceSolver >
virtual void	calcNextState (OpenHRP::CollisionSequence &corbaCollisionSequence)
virtual void	initialize ()
	World ()
Public Member Functions inherited from hrp::WorldBase
int	addBody (BodyPtr body)
BodyPtr	body (int index)
BodyPtr	body (const std::string &name)
int	bodyIndex (const std::string &name)
virtual void	calcNextState ()
void	clearBodies ()
void	clearCollisionPairs ()
double	currentTime (void) const
void	enableSensors (bool on)
ForwardDynamicsPtr	forwardDynamics (int index)
const Vector3 &	getGravityAcceleration ()
std::pair< int, bool >	getIndexOfLinkPairs (Link *link1, Link *link2)
unsigned int	numBodies ()
void	setCurrentTime (double tm)
void	setEulerMethod ()
void	setGravityAcceleration (const Vector3 &g)
void	setRungeKuttaMethod ()
void	setTimeStep (double dt)
double	timeStep (void) const
	WorldBase ()
virtual	~WorldBase ()
Public Member Functions inherited from ThreadedObject
bool	isPausing ()
bool	isRunning ()
void	notifyFinish ()
void	pause ()
void	resume ()
void	start ()
void	stop ()
	ThreadedObject ()
void	wait ()
	~ThreadedObject ()
Public Member Functions inherited from RTC::DataFlowComponentBase
	DataFlowComponentBase (Manager *manager)
void	init ()
virtual	~DataFlowComponentBase (void)
Public Member Functions inherited from RTC::RTObject_impl
ReturnCode_t	activate (RTC::UniqueId ec_id)
void	addConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener, bool autoclean=true)
ConfigurationParamListener *	addConfigurationParamListener (ConfigurationParamListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, const char *))
void	addConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener, bool autoclean=true)
ConfigurationSetListener *	addConfigurationSetListener (ConfigurationSetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const coil::Properties &config_set))
void	addConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener, bool autoclean=true)
ConfigurationSetNameListener *	addConfigurationSetNameListener (ConfigurationSetNameListenerType type, Listener &obj, void(Listener::*memfunc)(const char *))
void	addExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener, bool autoclean=true)
ECActionListener *	addExecutionContextActionListener (ECActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId))
bool	addInPort (const char *name, InPortBase &inport)
bool	addOutPort (const char *name, OutPortBase &outport)
bool	addPort (PortBase &port)
bool	addPort (PortService_ptr port)
bool	addPort (CorbaPort &port)
PortActionListener *	addPortActionListener (PortActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const RTC::PortProfile &))
void	addPortActionListener (PortActionListenerType listener_type, PortActionListener *listener, bool autoclean=true)
void	addPortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener, bool autoclean=true)
PortConnectListener *	addPortConnectListener (PortConnectListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, ConnectorProfile &))
void	addPortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener, bool autoclean=true)
PortConnectRetListener *	addPortConnectRetListener (PortConnectRetListenerType listener_type, Listener &obj, void(Listener::*memfunc)(const char *, ConnectorProfile &, ReturnCode_t))
void	addPostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener, bool autoclean=true)
PostComponentActionListener *	addPostComponentActionListener (PostCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id, ReturnCode_t ret))
void	addPreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener, bool autoclean=true)
PreComponentActionListener *	addPreComponentActionListener (PreCompActionListenerType listener_type, Listener &obj, void(Listener::*memfunc)(UniqueId ec_id))
bool	addSdoServiceConsumer (const SDOPackage::ServiceProfile &prof)
bool	addSdoServiceProvider (const SDOPackage::ServiceProfile &prof, SdoServiceProviderBase *provider)
UniqueId	attach_context (ExecutionContext_ptr exec_context)
UniqueId	bindContext (ExecutionContext_ptr exec_context)
bool	bindParameter (const char *param_name, VarType &var, const char *def_val, bool(*trans)(VarType &, const char *)=coil::stringTo)
ReturnCode_t	deactivate (RTC::UniqueId ec_id)
void	deletePort (PortService_ptr port)
void	deletePort (CorbaPort &port)
void	deletePort (PortBase &port)
void	deletePortByName (const char *port_name)
ReturnCode_t	detach_context (UniqueId exec_handle)
virtual ReturnCode_t	exit ()
virtual ReturnCode_t	finalize ()
void	finalizeContexts ()
void	finalizePorts ()
virtual ComponentProfile *	get_component_profile ()
virtual SDOPackage::Configuration_ptr	get_configuration ()
virtual ExecutionContext_ptr	get_context (UniqueId exec_handle)
virtual ExecutionContextHandle_t	get_context_handle (ExecutionContext_ptr cxt)
virtual SDOPackage::DeviceProfile *	get_device_profile ()
virtual SDOPackage::Monitoring_ptr	get_monitoring ()
virtual SDOPackage::OrganizationList *	get_organizations ()
virtual ExecutionContextList *	get_owned_contexts ()
virtual SDOPackage::OrganizationList *	get_owned_organizations ()
virtual ExecutionContextList *	get_participating_contexts ()
virtual PortServiceList *	get_ports ()
virtual char *	get_sdo_id ()
virtual SDOPackage::SDOService_ptr	get_sdo_service (const char *id)
virtual char *	get_sdo_type ()
virtual SDOPackage::ServiceProfile *	get_service_profile (const char *id)
virtual SDOPackage::ServiceProfileList *	get_service_profiles ()
virtual CORBA::Any *	get_status (const char *name)
virtual SDOPackage::NVList *	get_status_list ()
const char *	getCategory ()
const char *	getDescription ()
ExecutionContext_ptr	getExecutionContext (RTC::UniqueId ec_id)
double	getExecutionRate (RTC::UniqueId ec_id)
const char *	getInstanceName ()
std::vector< std::string >	getNamingNames ()
RTObject_ptr	getObjRef () const
coil::Properties &	getProperties ()
const char *	getTypeName ()
const char *	getVendor ()
const char *	getVersion ()
virtual ReturnCode_t	initialize ()
virtual CORBA::Boolean	is_alive (ExecutionContext_ptr exec_context)
bool	isOwnExecutionContext (RTC::UniqueId ec_id)
virtual ReturnCode_t	on_aborting (UniqueId exec_handle)
virtual ReturnCode_t	on_activated (UniqueId exec_handle)
virtual ReturnCode_t	on_deactivated (UniqueId exec_handle)
virtual ReturnCode_t	on_error (UniqueId exec_handle)
virtual ReturnCode_t	on_execute (UniqueId exec_handle)
virtual ReturnCode_t	on_finalize ()
virtual ReturnCode_t	on_initialize ()
virtual ReturnCode_t	on_rate_changed (UniqueId exec_handle)
virtual ReturnCode_t	on_reset (UniqueId exec_handle)
virtual ReturnCode_t	on_shutdown (UniqueId exec_handle)
virtual ReturnCode_t	on_startup (UniqueId exec_handle)
virtual ReturnCode_t	on_state_update (UniqueId exec_handle)
bool	readAll ()
void	registerInPort (const char *name, InPortBase &inport)
void	registerOutPort (const char *name, OutPortBase &outport)
void	registerPort (PortBase &port)
void	registerPort (PortService_ptr port)
void	registerPort (CorbaPort &port)
void	removeConfigurationParamListener (ConfigurationParamListenerType type, ConfigurationParamListener *listener)
void	removeConfigurationSetListener (ConfigurationSetListenerType type, ConfigurationSetListener *listener)
void	removeConfigurationSetNameListener (ConfigurationSetNameListenerType type, ConfigurationSetNameListener *listener)
void	removeExecutionContextActionListener (ECActionListenerType listener_type, ECActionListener *listener)
bool	removeInPort (InPortBase &port)
bool	removeOutPort (OutPortBase &port)
bool	removePort (PortService_ptr port)
bool	removePort (CorbaPort &port)
bool	removePort (PortBase &port)
void	removePortActionListener (PortActionListenerType listener_type, PortActionListener *listener)
void	removePortConnectListener (PortConnectListenerType listener_type, PortConnectListener *listener)
void	removePortConnectRetListener (PortConnectRetListenerType listener_type, PortConnectRetListener *listener)
void	removePostComponentActionListener (PostComponentActionListenerType listener_type, PostComponentActionListener *listener)
void	removePreComponentActionListener (PreComponentActionListenerType listener_type, PreComponentActionListener *listener)
bool	removeSdoServiceConsumer (const char *id)
bool	removeSdoServiceProvider (const char *id)
ReturnCode_t	reset (RTC::UniqueId ec_id)
	RTObject_impl (CORBA::ORB_ptr orb, PortableServer::POA_ptr poa)
	RTObject_impl (Manager *manager)
ReturnCode_t	setExecutionRate (RTC::UniqueId ec_id, double rate)
void	setInstanceName (const char *instance_name)
void	setObjRef (const RTObject_ptr rtobj)
void	setProperties (const coil::Properties &prop)
void	setReadAll (bool read=true, bool completion=false)
void	setWriteAll (bool write=true, bool completion=false)
void	updateParameters (const char *config_set)
bool	writeAll ()
virtual	~RTObject_impl (void)

Private Attributes
LogManager< SceneState >	log
RTC::Manager *	manager
double	maxLogLen
GLscene	scene
bool	useBBox
SDLwindow	window

Additional Inherited Members
Public Types inherited from RTC::RTObject_impl
typedef ExecutionContextActionListener	ECActionListener
typedef ExecutionContextActionListenerType	ECActionListenerType
typedef PostComponentActionListener	PostCompActionListener
typedef PostComponentActionListenerType	PostCompActionListenerType
typedef PreComponentActionListener	PreCompActionListener
typedef PreComponentActionListenerType	PreCompActionListenerType
Public Attributes inherited from Simulator
std::vector< BodyRTCPtr >	bodies
GLscene *	scene
OpenHRP::WorldState	state
double	totalTime
hrp::World< hrp::ConstraintForceSolver >	world
Public Attributes inherited from hrp::World< hrp::ConstraintForceSolver >
hrp::ConstraintForceSolver	constraintForceSolver
Protected Member Functions inherited from RTC::RTObject_impl
virtual ReturnCode_t	onAborting (RTC::UniqueId exec_handle)
void	onAddPort (const PortProfile &pprof)
void	onAttachExecutionContext (UniqueId ec_id)
void	onDetachExecutionContext (UniqueId ec_id)
virtual ReturnCode_t	onError (RTC::UniqueId exec_handle)
virtual ReturnCode_t	onFinalize ()
virtual ReturnCode_t	onRateChanged (RTC::UniqueId exec_handle)
void	onRemovePort (const PortProfile &pprof)
virtual ReturnCode_t	onReset (RTC::UniqueId exec_handle)
virtual ReturnCode_t	onShutdown (RTC::UniqueId exec_handle)
virtual ReturnCode_t	onStartup (RTC::UniqueId exec_handle)
virtual ReturnCode_t	onStateUpdate (RTC::UniqueId exec_handle)
void	postOnAborting (UniqueId ec_id, ReturnCode_t ret)
void	postOnActivated (UniqueId ec_id, ReturnCode_t ret)
void	postOnDeactivated (UniqueId ec_id, ReturnCode_t ret)
void	postOnError (UniqueId ec_id, ReturnCode_t ret)
void	postOnExecute (UniqueId ec_id, ReturnCode_t ret)
void	postOnFinalize (UniqueId ec_id, ReturnCode_t ret)
void	postOnInitialize (UniqueId ec_id, ReturnCode_t ret)
void	postOnRateChanged (UniqueId ec_id, ReturnCode_t ret)
void	postOnReset (UniqueId ec_id, ReturnCode_t ret)
void	postOnShutdown (UniqueId ec_id, ReturnCode_t ret)
void	postOnStartup (UniqueId ec_id, ReturnCode_t ret)
void	postOnStateUpdate (UniqueId ec_id, ReturnCode_t ret)
void	preOnAborting (UniqueId ec_id)
void	preOnActivated (UniqueId ec_id)
void	preOnDeactivated (UniqueId ec_id)
void	preOnError (UniqueId ec_id)
void	preOnExecute (UniqueId ec_id)
void	preOnFinalize (UniqueId ec_id)
void	preOnInitialize (UniqueId ec_id)
void	preOnRateChanged (UniqueId ec_id)
void	preOnReset (UniqueId ec_id)
void	preOnShutdown (UniqueId ec_id)
void	preOnStartup (UniqueId ec_id)
void	preOnStateUpdate (UniqueId ec_id)
void	shutdown ()
Protected Attributes inherited from Simulator
OpenHRP::SceneState	m_sceneState
OutPort< OpenHRP::SceneState >	m_sceneStateOut
Protected Attributes inherited from hrp::WorldBase
std::vector< BodyInfo >	bodyInfoArray
double	currentTime_
bool	sensorsAreEnabled
double	timeStep_
Protected Attributes inherited from RTC::RTObject_impl
ComponentActionListeners	m_actionListeners
ConfigAdmin	m_configsets
bool	m_created
std::vector< ExecutionContextBase * >	m_eclist
ExecutionContextServiceList	m_ecMine
ExecutionContextServiceList	m_ecOther
bool	m_exiting
std::vector< InPortBase * >	m_inports
RTObject_var	m_objref
std::vector< OutPortBase * >	m_outports
Manager *	m_pManager
CORBA::ORB_var	m_pORB
PortAdmin	m_portAdmin
PortConnectListeners	m_portconnListeners
PortableServer::POA_var	m_pPOA
ComponentProfile	m_profile
coil::Properties	m_properties
SDOPackage::Configuration_var	m_pSdoConfig
SDOPackage::Configuration_impl *	m_pSdoConfigImpl
bool	m_readAll
bool	m_readAllCompletion
SDOPackage::OrganizationList	m_sdoOrganizations
SDOPackage::OrganizationList	m_sdoOwnedOrganizations
SdoServiceAdmin	m_sdoservice
SDOPackage::NVList	m_sdoStatus
bool	m_writeAll
bool	m_writeAllCompletion
Logger	rtclog

Detailed Description

Definition at line 10 of file PySimulator.h.

Constructor & Destructor Documentation

PySimulator::PySimulator

(

)

Definition at line 87 of file PySimulator.cpp.

PySimulator::PySimulator

(

PyObject *

pyo

)

Definition at line 94 of file PySimulator.cpp.

PySimulator::~PySimulator

(

)

Definition at line 101 of file PySimulator.cpp.

Member Function Documentation

void PySimulator::addCollisionCheckPair	(	PyBody *	b1,
		PyBody *	b2
	)

Definition at line 284 of file PySimulator.cpp.

PyObject * PySimulator::bodies

(

)

Definition at line 274 of file PySimulator.cpp.

void PySimulator::capture

(

std::string

fname

)

Definition at line 289 of file PySimulator.cpp.

void PySimulator::clear

(

void

)

Definition at line 234 of file PySimulator.cpp.

PyBody * PySimulator::createBody

(

std::string

name

)

Definition at line 256 of file PySimulator.cpp.

void PySimulator::endless

(

bool

flag

)

Definition at line 226 of file PySimulator.cpp.

PyBody * PySimulator::getBody

(

std::string

name

)

Definition at line 299 of file PySimulator.cpp.

void PySimulator::initRTCmanager

(

)

Definition at line 113 of file PySimulator.cpp.

void PySimulator::initRTCmanager

(

PyObject *

pyo

)

Definition at line 129 of file PySimulator.cpp.

void PySimulator::initRTCmanager	(	int	argc,
		char **	argv
	)

Definition at line 120 of file PySimulator.cpp.

void PySimulator::initViewer

(

)

Definition at line 108 of file PySimulator.cpp.

PyBody * PySimulator::loadBody	(	std::string	name,
		std::string	url
	)

Definition at line 139 of file PySimulator.cpp.

bool PySimulator::loadProject

(

std::string

fname

)

Definition at line 175 of file PySimulator.cpp.

unsigned int PySimulator::logLength

(

)

Definition at line 294 of file PySimulator.cpp.

double PySimulator::maxLogLength

(

)

Definition at line 319 of file PySimulator.cpp.

void PySimulator::notifyChanged

(

)

Definition at line 251 of file PySimulator.cpp.

void PySimulator::pause

(

)

Definition at line 246 of file PySimulator.cpp.

void PySimulator::play

(

)

Definition at line 241 of file PySimulator.cpp.

void PySimulator::reset

(

void

)

Definition at line 324 of file PySimulator.cpp.

void PySimulator::setMaxLogLength

(

double

len

)

Definition at line 314 of file PySimulator.cpp.

void PySimulator::setShowSensors

(

bool

flag

)

Definition at line 309 of file PySimulator.cpp.

void PySimulator::setUseBBox

(

bool

flag

)

Definition at line 335 of file PySimulator.cpp.

void PySimulator::setWindowSize

(

int

s

)

Definition at line 340 of file PySimulator.cpp.

bool PySimulator::showSensors

(

)

Definition at line 304 of file PySimulator.cpp.

void PySimulator::simulate

(

)

Definition at line 209 of file PySimulator.cpp.

void PySimulator::simulate

(

double

time

)

Definition at line 214 of file PySimulator.cpp.

void PySimulator::start

(

double

time

)

Definition at line 220 of file PySimulator.cpp.

Member Data Documentation

LogManager<SceneState> PySimulator::log

private

Definition at line 44 of file PySimulator.h.

RTC::Manager* PySimulator::manager

private

Definition at line 47 of file PySimulator.h.

double PySimulator::maxLogLen

private

Definition at line 49 of file PySimulator.h.

GLscene PySimulator::scene

private

Definition at line 45 of file PySimulator.h.

bool PySimulator::useBBox

private

Definition at line 48 of file PySimulator.h.

SDLwindow PySimulator::window

private

Definition at line 46 of file PySimulator.h.

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

• PySimulator.h
• PySimulator.cpp