#include <OccupancyGridMap.h>

Inheritance diagram for mvsim::OccupancyGridMap:

Classes
struct	TFixturePtr

struct	TInfoPerCollidableobj

Public Member Functions
const mrpt::maps::COccupancyGridMap2D &	getOccGrid () const

mrpt::maps::COccupancyGridMap2D &	getOccGrid ()

virtual void	loadConfigFrom (const rapidxml::xml_node< char > *root) override

	OccupancyGridMap (World parent, const rapidxml::xml_node< char > root)

void	poses_mutex_lock () override

void	poses_mutex_unlock () override

virtual void	simul_pre_timestep (const TSimulContext &context) override

virtual	~OccupancyGridMap ()

Public Member Functions inherited from mvsim::WorldElementBase
	WorldElementBase (World *parent)

virtual	~WorldElementBase ()

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

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

virtual void	simul_post_timestep (const TSimulContext &context)

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

Protected Member Functions inherited from mvsim::VisualObject
virtual mrpt::poses::CPose3D	internalGuiGetVisualPose ()

bool	parseVisual (const rapidxml::xml_node< char > *visual_node)

Protected Attributes
mrpt::opengl::CSetOfObjects::Ptr	m_gl_grid
	call of internalGuiUpdate() More...

std::vector< mrpt::opengl::CSetOfObjects::Ptr >	m_gl_obs_clouds

std::vector< mrpt::opengl::CPointCloud::Ptr >	m_gl_obs_clouds_buffer

std::mutex	m_gl_obs_clouds_buffer_cs

mrpt::maps::COccupancyGridMap2D	m_grid

bool	m_gui_uptodate

double	m_lateral_friction
	(Default: 0.5) More...

std::vector< TInfoPerCollidableobj >	m_obstacles_for_each_obj

double	m_restitution
	Elastic restitution coef (default: 0.01) More...

bool	m_show_grid_collision_points

mrpt::obs::CSinCosLookUpTableFor2DScans	m_sincos_lut

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

Additional Inherited Members
Public Types inherited from mvsim::WorldElementBase
using	Ptr = std::shared_ptr< WorldElementBase >

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

Static Public Member Functions inherited from mvsim::WorldElementBase
static Ptr	factory (World parent, const rapidxml::xml_node< char > xml_node, const char *class_name=nullptr)

Detailed Description

Definition at line 24 of file OccupancyGridMap.h.

Constructor & Destructor Documentation

OccupancyGridMap::OccupancyGridMap	(	World *	parent,
		const rapidxml::xml_node< char > *	root
	)

Definition at line 27 of file OccupancyGridMap.cpp.

OccupancyGridMap::~OccupancyGridMap ( )

virtual

Definition at line 38 of file OccupancyGridMap.cpp.

Member Function Documentation

const mrpt::maps::COccupancyGridMap2D& mvsim::OccupancyGridMap::getOccGrid ( ) const

inline

Definition at line 35 of file OccupancyGridMap.h.

mrpt::maps::COccupancyGridMap2D& mvsim::OccupancyGridMap::getOccGrid ( )

inline

Definition at line 36 of file OccupancyGridMap.h.

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

overrideprotectedvirtual

Implements mvsim::VisualObject.

Definition at line 92 of file OccupancyGridMap.cpp.

void OccupancyGridMap::loadConfigFrom ( const rapidxml::xml_node< char > * root )

overridevirtual

Implements mvsim::WorldElementBase.

Definition at line 39 of file OccupancyGridMap.cpp.

void mvsim::OccupancyGridMap::poses_mutex_lock ( )

inlineoverridevirtual

Implements mvsim::Simulable.

Definition at line 38 of file OccupancyGridMap.h.

void mvsim::OccupancyGridMap::poses_mutex_unlock ( )

inlineoverridevirtual

Implements mvsim::Simulable.

Definition at line 39 of file OccupancyGridMap.h.

void OccupancyGridMap::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 140 of file OccupancyGridMap.cpp.

Member Data Documentation

mrpt::opengl::CSetOfObjects::Ptr mvsim::OccupancyGridMap::m_gl_grid

protected

call of internalGuiUpdate()

Definition at line 49 of file OccupancyGridMap.h.

std::vector<mrpt::opengl::CSetOfObjects::Ptr> mvsim::OccupancyGridMap::m_gl_obs_clouds

protected

Definition at line 71 of file OccupancyGridMap.h.

std::vector<mrpt::opengl::CPointCloud::Ptr> mvsim::OccupancyGridMap::m_gl_obs_clouds_buffer

protected

Definition at line 74 of file OccupancyGridMap.h.

std::mutex mvsim::OccupancyGridMap::m_gl_obs_clouds_buffer_cs

protected

Definition at line 73 of file OccupancyGridMap.h.

mrpt::maps::COccupancyGridMap2D mvsim::OccupancyGridMap::m_grid

protected

Definition at line 45 of file OccupancyGridMap.h.

bool mvsim::OccupancyGridMap::m_gui_uptodate

protected

Whether m_gl_grid has to be updated upon next

Definition at line 47 of file OccupancyGridMap.h.

double mvsim::OccupancyGridMap::m_lateral_friction

protected

(Default: 0.5)

Definition at line 80 of file OccupancyGridMap.h.

std::vector<TInfoPerCollidableobj> mvsim::OccupancyGridMap::m_obstacles_for_each_obj

protected

Definition at line 70 of file OccupancyGridMap.h.

double mvsim::OccupancyGridMap::m_restitution

protected

Elastic restitution coef (default: 0.01)

Definition at line 79 of file OccupancyGridMap.h.

bool mvsim::OccupancyGridMap::m_show_grid_collision_points

protected

Definition at line 78 of file OccupancyGridMap.h.

mrpt::obs::CSinCosLookUpTableFor2DScans mvsim::OccupancyGridMap::m_sincos_lut

protected

Definition at line 76 of file OccupancyGridMap.h.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation