#include <Block.h>

Inheritance diagram for mvsim::Block:

Public Types
using	Ptr = std::shared_ptr< Block >

Public Types inherited from mvsim::Simulable
using	Ptr = std::shared_ptr< Simulable >

Public Member Functions
virtual void	apply_force (const mrpt::math::TVector2D &force, const mrpt::math::TPoint2D &applyPoint=mrpt::math::TPoint2D(0, 0)) override

	Block (World *parent)

const mrpt::img::TColor	block_color () const

void	block_color (const mrpt::img::TColor &c)

double	block_z_max () const

void	block_z_max (double v)

double	block_z_min () const

void	block_z_min (double v)

const mrpt::math::TPolygon2D &	blockShape () const

void	blockShape (const mrpt::math::TPolygon2D &p)

virtual void	create_multibody_system (b2World &world)

mrpt::math::TPoint2D	getBlockCenterOfMass () const
	In local coordinates. More...

size_t	getBlockIndex () const

b2Body *	getBox2DBlockBody ()

virtual double	getMass () const

virtual float	getMaxBlockRadius () const

double	ground_friction () const

void	ground_friction (double newValue)

bool	isStatic () const

double	mass () const

void	mass (double newValue)

void	poses_mutex_lock () override

void	poses_mutex_unlock () override

void	setBlockIndex (size_t idx)

void	setIsStatic (bool b)

virtual void	simul_post_timestep (const TSimulContext &context) override

virtual void	simul_pre_timestep (const TSimulContext &context) override

Public Member Functions inherited from mvsim::VisualObject
void	getVisualModelBoundingBox (mrpt::math::TPoint3D &bbmin, mrpt::math::TPoint3D &bbmax) const

World *	getWorldObject ()

const World *	getWorldObject () const

virtual void	guiUpdate (mrpt::opengl::COpenGLScene &scene)

void	showBoundingBox (bool show)

	VisualObject (World *parent)

virtual	~VisualObject ()

Public Member Functions inherited from mvsim::Simulable
const b2Body *	b2d_body () const

b2Body *	b2d_body ()

mrpt::poses::CPose2D	getCPose2D () const
	Alternative to getPose() More...

const std::string &	getName () const

mrpt::math::TPose3D	getPose () const

mrpt::math::TTwist2D	getTwist () const

const mrpt::math::TTwist2D &	getVelocity () const

mrpt::math::TTwist2D	getVelocityLocal () const

bool	hadCollision () const

bool	isInCollision () const

virtual void	registerOnServer (mvsim::Client &c)

void	resetCollisionFlag ()

void	setName (const std::string &s)

void	setPose (const mrpt::math::TPose3D &p) const

void	setTwist (const mrpt::math::TTwist2D &dq) const

Static Public Member Functions
static Ptr	factory (World parent, const rapidxml::xml_node< char > xml_node)

static Ptr	factory (World *parent, const std::string &xml_text)

static void	register_block_class (const rapidxml::xml_node< char > *xml_node)

Protected Member Functions
virtual mrpt::poses::CPose3D	internalGuiGetVisualPose () override

virtual void	internalGuiUpdate (mrpt::opengl::COpenGLScene &scene, bool childrenOnly) override

void	updateMaxRadiusFromPoly ()

Protected Member Functions inherited from mvsim::VisualObject
bool	parseVisual (const rapidxml::xml_node< char > *visual_node)

Protected Attributes
mrpt::img::TColor	m_block_color {0x00, 0x00, 0xff}

mrpt::math::TPoint2D	m_block_com {.0, .0}
	In local coordinates. More...

size_t	m_block_index = 0

mrpt::math::TPolygon2D	m_block_poly

double	m_block_z_max = 1.0

double	m_block_z_min = 0.0
	each change via updateMaxRadiusFromPoly() More...

b2Fixture *	m_fixture_block

std::vector< b2FrictionJoint * >	m_friction_joints

double	m_ground_friction = 0.5
	Default: 0.5. More...

bool	m_isStatic = false

double	m_lateral_friction = 0.5
	Default: 0.5. More...

double	m_mass = 30.0

double	m_max_radius

const TParameterDefinitions	m_params

double	m_restitution = 0.01
	Deault: 0.01. More...

Protected Attributes inherited from mvsim::VisualObject
std::shared_ptr< mrpt::opengl::CSetOfObjects >	m_glBoundingBox

std::shared_ptr< mrpt::opengl::CSetOfObjects >	m_glCustomVisual

int32_t	m_glCustomVisualId = -1

World *	m_world

Protected Attributes inherited from mvsim::Simulable
std::string	m_name

Private Member Functions
void	internal_internalGuiUpdate_forces (mrpt::opengl::COpenGLScene &scene)

Private Attributes
std::vector< mrpt::math::TSegment3D >	m_force_segments_for_rendering

std::mutex	m_force_segments_for_rendering_cs

mrpt::opengl::CSetOfObjects::Ptr	m_gl_block

mrpt::opengl::CSetOfLines::Ptr	m_gl_forces

std::mutex	m_gui_mtx

Detailed Description

A non-vehicle "actor" for the simulation, typically obstacle blocks.

Definition at line 33 of file Block.h.

Member Typedef Documentation

using mvsim::Block::Ptr = std::shared_ptr<Block>

Definition at line 36 of file Block.h.

Constructor & Destructor Documentation

Block::Block ( World * parent )

Definition at line 36 of file Block.cpp.

Member Function Documentation

void Block::apply_force	(	const mrpt::math::TVector2D &	force,
		const mrpt::math::TPoint2D &	applyPoint = `mrpt::math::TPoint2D(0, 0)`
	)

overridevirtual

Override to register external forces exerted by other WorldElements. Force is (fx,fy) in global coordinates. Application point is (local_ptx,local_pty) in the body local frame

Reimplemented from mvsim::Simulable.

Definition at line 408 of file Block.cpp.

const mrpt::img::TColor mvsim::Block::block_color ( ) const

inline

Definition at line 101 of file Block.h.

void mvsim::Block::block_color ( const mrpt::img::TColor & c )

inline

Definition at line 102 of file Block.h.

double mvsim::Block::block_z_max ( ) const

inline

Definition at line 109 of file Block.h.

void mvsim::Block::block_z_max ( double v )

inline

Definition at line 115 of file Block.h.

double mvsim::Block::block_z_min ( ) const

inline

Definition at line 108 of file Block.h.

void mvsim::Block::block_z_min ( double v )

inline

Definition at line 110 of file Block.h.

const mrpt::math::TPolygon2D& mvsim::Block::blockShape ( ) const

inline

Get the 2D shape of the block, as set from the config file (only used for collision detection)

Definition at line 73 of file Block.h.

void mvsim::Block::blockShape ( const mrpt::math::TPolygon2D & p )

inline

Definition at line 75 of file Block.h.

void Block::create_multibody_system ( b2World & world )

virtual

Create bodies, fixtures, etc. for the dynamical simulation. May be overrided by derived classes

Create bodies, fixtures, etc. for the dynamical simulation

Definition at line 329 of file Block.cpp.

Block::Ptr Block::factory	(	World *	parent,
		const rapidxml::xml_node< char > *	xml_node
	)

static

Class factory: Creates a block from XML description of type "<block>...</block>".

Definition at line 68 of file Block.cpp.

Block::Ptr Block::factory	(	World *	parent,
		const std::string &	xml_text
	)

static

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 220 of file Block.cpp.

mrpt::math::TPoint2D mvsim::Block::getBlockCenterOfMass ( ) const

inline

In local coordinates.

Definition at line 66 of file Block.h.

size_t mvsim::Block::getBlockIndex ( ) const

inline

Get the block index in the World

Definition at line 85 of file Block.h.

b2Body* mvsim::Block::getBox2DBlockBody ( )

inline

Definition at line 65 of file Block.h.

virtual double mvsim::Block::getMass ( ) const

inlinevirtual

Get the block mass

Definition at line 64 of file Block.h.

virtual float mvsim::Block::getMaxBlockRadius ( ) const

inlinevirtual

Get (an approximation of) the max radius of the block, from its point of reference (in meters)

Definition at line 62 of file Block.h.

double mvsim::Block::ground_friction ( ) const

inline

Definition at line 89 of file Block.h.

void mvsim::Block::ground_friction ( double newValue )

inline

Definition at line 90 of file Block.h.

void Block::internal_internalGuiUpdate_forces ( mrpt::opengl::COpenGLScene & scene )

private

Definition at line 301 of file Block.cpp.

mrpt::poses::CPose3D Block::internalGuiGetVisualPose ( )

overrideprotectedvirtual

Reimplemented from mvsim::VisualObject.

Definition at line 255 of file Block.cpp.

void Block::internalGuiUpdate	(	mrpt::opengl::COpenGLScene &	scene,
		bool	childrenOnly
	)

overrideprotectedvirtual

Implements mvsim::VisualObject.

Definition at line 260 of file Block.cpp.

bool Block::isStatic ( ) const

Definition at line 418 of file Block.cpp.

double mvsim::Block::mass ( ) const

inline

Definition at line 92 of file Block.h.

void mvsim::Block::mass ( double newValue )

inline

Definition at line 93 of file Block.h.

void mvsim::Block::poses_mutex_lock ( )

inlineoverridevirtual

Implements mvsim::Simulable.

Definition at line 98 of file Block.h.

void mvsim::Block::poses_mutex_unlock ( )

inlineoverridevirtual

Implements mvsim::Simulable.

Definition at line 99 of file Block.h.

void Block::register_block_class ( const rapidxml::xml_node< char > * xml_node )

static

Register a new class of blocks from XML description of type "<block:class name='name'>...</block:class>".

Register a new class of vehicles from XML description of type "<vehicle:class name='name'>...</vehicle:class>".

Definition at line 48 of file Block.cpp.

void mvsim::Block::setBlockIndex ( size_t idx )

inline

Set the block index in the World

Definition at line 83 of file Block.h.

void Block::setIsStatic ( bool b )

Definition at line 424 of file Block.cpp.

void Block::simul_post_timestep ( const TSimulContext & context )

overridevirtual

Override to do any required process right after the integration of dynamic equations for each timestep

Reimplemented from mvsim::Simulable.

Definition at line 250 of file Block.cpp.

void Block::simul_pre_timestep ( const TSimulContext & context )

overridevirtual

Process right before the integration of dynamic equations for each timestep: set action forces from motors, update friction models, etc.

Reimplemented from mvsim::Simulable.

Definition at line 243 of file Block.cpp.

void Block::updateMaxRadiusFromPoly ( )

protected

Definition at line 316 of file Block.cpp.

Member Data Documentation

mrpt::img::TColor mvsim::Block::m_block_color {0x00, 0x00, 0xff}

protected

Definition at line 139 of file Block.h.

mrpt::math::TPoint2D mvsim::Block::m_block_com {.0, .0}

protected

In local coordinates.

Definition at line 140 of file Block.h.

size_t mvsim::Block::m_block_index = 0

protected

user-supplied index number: must be set/get'ed with setblockIndex() getblockIndex() (default=0)

Definition at line 128 of file Block.h.

mrpt::math::TPolygon2D mvsim::Block::m_block_poly

protected

Definition at line 135 of file Block.h.

double mvsim::Block::m_block_z_max = 1.0

protected

Definition at line 138 of file Block.h.

double mvsim::Block::m_block_z_min = 0.0

protected

each change via updateMaxRadiusFromPoly()

Definition at line 138 of file Block.h.

b2Fixture* mvsim::Block::m_fixture_block

protected

Definition at line 158 of file Block.h.

std::vector<mrpt::math::TSegment3D> mvsim::Block::m_force_segments_for_rendering

private

Definition at line 166 of file Block.h.

std::mutex mvsim::Block::m_force_segments_for_rendering_cs

private

Definition at line 165 of file Block.h.

std::vector<b2FrictionJoint*> mvsim::Block::m_friction_joints

protected

Definition at line 130 of file Block.h.

mrpt::opengl::CSetOfObjects::Ptr mvsim::Block::m_gl_block

private

Definition at line 163 of file Block.h.

mrpt::opengl::CSetOfLines::Ptr mvsim::Block::m_gl_forces

private

Definition at line 164 of file Block.h.

double mvsim::Block::m_ground_friction = 0.5

protected

Default: 0.5.

Definition at line 143 of file Block.h.

std::mutex mvsim::Block::m_gui_mtx

private

Definition at line 168 of file Block.h.

bool mvsim::Block::m_isStatic = false

protected

Definition at line 134 of file Block.h.

double mvsim::Block::m_lateral_friction = 0.5

protected

Default: 0.5.

Definition at line 142 of file Block.h.

double mvsim::Block::m_mass = 30.0

protected

Definition at line 133 of file Block.h.

double mvsim::Block::m_max_radius

protected

Automatically computed from m_block_poly upon

Definition at line 136 of file Block.h.

const TParameterDefinitions mvsim::Block::m_params

protected

Initial value:

= {
                {"mass", {"%lf", &m_mass}},
                {"zmin", {"%lf", &m_block_z_min}},
                {"zmax", {"%lf", &m_block_z_max}},
                {"ground_friction", {"%lf", &m_ground_friction}},
                {"lateral_friction", {"%lf", &m_lateral_friction}},
                {"restitution", {"%lf", &m_restitution}},
                {"color", {"%color", &m_block_color}}}

Definition at line 146 of file Block.h.

double mvsim::Block::m_restitution = 0.01

protected

Deault: 0.01.

Definition at line 144 of file Block.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation