#include <World.h>

Inheritance diagram for mvsim::World:

Classes
struct	GUI

struct	TGUI_Options

struct	TGUIKeyEvent

struct	TUpdateGUIParams

Public Types
Public types
using	VehicleList = std::multimap< std::string, VehicleBase::Ptr >

using	WorldElementList = std::list< WorldElementBase::Ptr >

using	BlockList = std::multimap< std::string, Block::Ptr >

using	SimulableList = std::multimap< std::string, Simulable::Ptr >

Public Member Functions
mvsim::Client &	commsClient ()

const mvsim::Client &	commsClient () const

void	connectToServer ()

Initialization, simulation set-up
	World ()
	Default ctor: inits an empty world. More...

	~World ()
	Dtor. More...

void	clear_all ()

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

Access inner working objects
std::unique_ptr< b2World > &	getBox2DWorld ()

const std::unique_ptr< b2World > &	getBox2DWorld () const

b2Body *	getBox2DGroundBody ()

const VehicleList &	getListOfVehicles () const

VehicleList &	getListOfVehicles ()

const BlockList &	getListOfBlocks () const

BlockList &	getListOfBlocks ()

const WorldElementList &	getListOfWorldElements () const

SimulableList &	getListOfSimulableObjects ()

const SimulableList &	getListOfSimulableObjects () const

mrpt::system::CTimeLogger &	getTimeLogger ()

std::string	resolvePath (const std::string &in_path) const

std::string	xmlPathToActualPath (const std::string &modelURI) const

Optional user hooks
virtual void	onNewObservation ([[maybe_unused]] const VehicleBase &veh, [[maybe_unused]] const mrpt::obs::CObservation *obs)

Private Member Functions
void	insertBlock (const Block::Ptr &block)

void	internal_one_timestep (double dt)

void	process_load_walls (const rapidxml::xml_node< char > &node)

Private Attributes
b2Body *	m_b2_ground_body = nullptr

int	m_b2d_pos_iters = 3

int	m_b2d_vel_iters = 6

std::string	m_base_path {"."}

BlockList	m_blocks

std::unique_ptr< b2World >	m_box2d_world

mvsim::Client	m_client {"World"}

double	m_gravity = 9.81

GUI	m_gui {*this}
	gui state More...

TGUI_Options	m_gui_options

const TParameterDefinitions	m_other_world_params

double	m_simul_time = 0

double	m_simul_timestep = 10e-3

SimulableList	m_simulableObjects

std::mutex	m_simulationStepRunningMtx

mrpt::system::CTicTac	m_timer_iteration

mrpt::system::CTimeLogger	m_timlogger

VehicleList	m_vehicles

std::recursive_mutex	m_world_cs
	first time the GUI window is created. More...

WorldElementList	m_world_elements

Friends
class	Block

class	VehicleBase

Simulation execution
std::string	m_gui_msg_lines

std::mutex	m_gui_msg_lines_mtx

std::thread	m_gui_thread

std::atomic_bool	m_gui_thread_running = false

std::atomic_bool	m_gui_thread_must_close = false

std::mutex	m_gui_thread_start_mtx

std::vector< std::function< void(void)> >	m_gui_user_pending_tasks

std::mutex	m_gui_user_pending_tasks_mtx

TGUIKeyEvent	m_lastKeyEvent

std::atomic_bool	m_lastKeyEventValid = false

std::mutex	m_lastKeyEvent_mtx

double	get_simul_time () const
	Simulation wall-clock time. More...

double	get_simul_timestep () const
	Simulation fixed-time interval for numerical integration. More...

void	set_simul_timestep (double timestep)
	Simulation fixed-time interval for numerical integration. More...

double	get_gravity () const

void	set_gravity (double accel)

void	run_simulation (double dt)

void	update_GUI (TUpdateGUIParams *params=nullptr)

const mrpt::gui::CDisplayWindowGUI::Ptr &	gui_window () const

void	internalUpdate3DSceneObjects (mrpt::opengl::COpenGLScene::Ptr &gl_scene)

void	internal_GUI_thread ()

void	internal_process_pending_gui_user_tasks ()

void	enqueue_task_to_run_in_gui_thread (const std::function< void(void)> &f)

bool	is_GUI_open () const
	Forces closing the GUI window, if any. More...

void	close_GUI ()
	a previous call to update_GUI() More...

Visitors API
using	vehicle_visitor_t = std::function< void(VehicleBase &)>

using	world_element_visitor_t = std::function< void(WorldElementBase &)>

void	runVisitorOnVehicles (const vehicle_visitor_t &v)

void	runVisitorOnWorldElements (const world_element_visitor_t &v)

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.

See: https://mvsimulator.readthedocs.io/en/latest/world.html

Definition at line 41 of file World.h.

Member Typedef Documentation

using mvsim::World::BlockList = std::multimap<std::string, Block::Ptr>

Map 'block-name' => block object. See getListOfBlocks()

Definition at line 179 of file World.h.

using mvsim::World::SimulableList = std::multimap<std::string, Simulable::Ptr>

For convenience, all elements (vehicles, world elements, blocks) are also stored here for each look-up by name

Definition at line 183 of file World.h.

using mvsim::World::vehicle_visitor_t = std::function<void(VehicleBase&)>

Definition at line 222 of file World.h.

using mvsim::World::VehicleList = std::multimap<std::string, VehicleBase::Ptr>

Map 'vehicle-name' => vehicle object. See getListOfVehicles()

Definition at line 173 of file World.h.

using mvsim::World::world_element_visitor_t = std::function<void(WorldElementBase&)>

Definition at line 223 of file World.h.

using mvsim::World::WorldElementList = std::list<WorldElementBase::Ptr>

See getListOfWorldElements()

Definition at line 176 of file World.h.

Constructor & Destructor Documentation

World::World ( )

Default ctor: inits an empty world.

Definition at line 27 of file World.cpp.

World::~World ( )

Dtor.

Definition at line 33 of file World.cpp.

Member Function Documentation

void World::clear_all ( )

Resets the entire simulation environment to an empty world.

Definition at line 48 of file World.cpp.

void World::close_GUI ( )

a previous call to update_GUI()

Forces closing the GUI window, if any.

Definition at line 44 of file World_gui.cpp.

mvsim::Client& mvsim::World::commsClient ( )

inline

Definition at line 247 of file World.h.

const mvsim::Client& mvsim::World::commsClient ( ) const

inline

Definition at line 248 of file World.h.

void World::connectToServer ( )

Connect to server, advertise topics and services, etc. per the world description loaded from XML file.

Definition at line 205 of file World.cpp.

void mvsim::World::enqueue_task_to_run_in_gui_thread ( const std::function< void(void)> & f )

inline

Definition at line 148 of file World.h.

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 82 of file World.h.

double mvsim::World::get_simul_time ( ) const

inline

Simulation wall-clock time.

Definition at line 68 of file World.h.

double mvsim::World::get_simul_timestep ( ) const

inline

Simulation fixed-time interval for numerical integration.

Definition at line 73 of file World.h.

b2Body* mvsim::World::getBox2DGroundBody ( )

inline

Definition at line 194 of file World.h.

std::unique_ptr<b2World>& mvsim::World::getBox2DWorld ( )

inline

Definition at line 189 of file World.h.

const std::unique_ptr<b2World>& mvsim::World::getBox2DWorld ( ) const

inline

Definition at line 190 of file World.h.

const BlockList& mvsim::World::getListOfBlocks ( ) const

inline

Definition at line 197 of file World.h.

BlockList& mvsim::World::getListOfBlocks ( )

inline

Definition at line 198 of file World.h.

SimulableList& mvsim::World::getListOfSimulableObjects ( )

inline

Definition at line 204 of file World.h.

const SimulableList& mvsim::World::getListOfSimulableObjects ( ) const

inline

Definition at line 205 of file World.h.

const VehicleList& mvsim::World::getListOfVehicles ( ) const

inline

Definition at line 195 of file World.h.

VehicleList& mvsim::World::getListOfVehicles ( )

inline

Definition at line 196 of file World.h.

const WorldElementList& mvsim::World::getListOfWorldElements ( ) const

inline

Definition at line 199 of file World.h.

mrpt::system::CTimeLogger& mvsim::World::getTimeLogger ( )

inline

Definition at line 210 of file World.h.

const mrpt::gui::CDisplayWindowGUI::Ptr& mvsim::World::gui_window ( ) const

inline

Definition at line 129 of file World.h.

void World::insertBlock ( const Block::Ptr & block )

private

Definition at line 311 of file World.cpp.

void World::internal_GUI_thread ( )

Definition at line 339 of file World_gui.cpp.

void World::internal_one_timestep ( double dt )

private

Runs one individual time step

Definition at line 97 of file World.cpp.

void World::internal_process_pending_gui_user_tasks ( )

Definition at line 536 of file World_gui.cpp.

void World::internalUpdate3DSceneObjects ( mrpt::opengl::COpenGLScene::Ptr & gl_scene )

Definition at line 549 of file World_gui.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 42 of file World_gui.cpp.

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

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

Definition at line 28 of file World_load_xml.cpp.

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

inlinevirtual

Definition at line 235 of file World.h.

void World::process_load_walls ( const rapidxml::xml_node< char > & node )

private

Definition at line 122 of file World_walls.cpp.

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 162 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 71 of file World.cpp.

void World::runVisitorOnVehicles ( const vehicle_visitor_t & v )

Run the user-provided visitor on each vehicle

Definition at line 192 of file World.cpp.

void World::runVisitorOnWorldElements ( const world_element_visitor_t & v )

Run the user-provided visitor on each world element

Definition at line 199 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 87 of file World.h.

void mvsim::World::set_simul_timestep ( double timestep )

inline

Simulation fixed-time interval for numerical integration.

Definition at line 77 of file World.h.

void World::update_GUI ( TUpdateGUIParams * params = nullptr )

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

Parameters

[in,out] 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.

Definition at line 633 of file World_gui.cpp.

std::string World::xmlPathToActualPath ( const std::string & modelURI ) const

Definition at line 140 of file World.cpp.

Friends And Related Function Documentation

friend class Block

friend

Definition at line 252 of file World.h.

friend class VehicleBase

friend

Definition at line 251 of file World.h.

Member Data Documentation

b2Body* mvsim::World::m_b2_ground_body = nullptr

private

Used to declare friction between vehicles-ground

Definition at line 322 of file World.h.

int mvsim::World::m_b2d_pos_iters = 3

private

Definition at line 265 of file World.h.

int mvsim::World::m_b2d_vel_iters = 6

private

Velocity and position iteration count (refer to libbox2d docs)

Definition at line 265 of file World.h.

std::string mvsim::World::m_base_path {"."}

private

Path from which to take relative directories.

Definition at line 279 of file World.h.

BlockList mvsim::World::m_blocks

private

Definition at line 326 of file World.h.

std::unique_ptr<b2World> mvsim::World::m_box2d_world

private

Box2D dynamic simulator instance

Definition at line 319 of file World.h.

mvsim::Client mvsim::World::m_client {"World"}

private

Definition at line 254 of file World.h.

double mvsim::World::m_gravity = 9.81

private

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

Definition at line 259 of file World.h.

GUI mvsim::World::m_gui {*this}

private

gui state

Definition at line 371 of file World.h.

std::string mvsim::World::m_gui_msg_lines

Definition at line 139 of file World.h.

std::mutex mvsim::World::m_gui_msg_lines_mtx

Definition at line 140 of file World.h.

TGUI_Options mvsim::World::m_gui_options

private

Some of these options are only used the

Definition at line 311 of file World.h.

std::thread mvsim::World::m_gui_thread

Definition at line 142 of file World.h.

std::atomic_bool mvsim::World::m_gui_thread_must_close = false

Definition at line 145 of file World.h.

std::atomic_bool mvsim::World::m_gui_thread_running = false

Definition at line 144 of file World.h.

std::mutex mvsim::World::m_gui_thread_start_mtx

Definition at line 146 of file World.h.

std::vector<std::function<void(void)> > mvsim::World::m_gui_user_pending_tasks

Definition at line 155 of file World.h.

std::mutex mvsim::World::m_gui_user_pending_tasks_mtx

Definition at line 156 of file World.h.

TGUIKeyEvent mvsim::World::m_lastKeyEvent

Definition at line 158 of file World.h.

std::mutex mvsim::World::m_lastKeyEvent_mtx

Definition at line 160 of file World.h.

std::atomic_bool mvsim::World::m_lastKeyEventValid = false

Definition at line 159 of file World.h.

const TParameterDefinitions mvsim::World::m_other_world_params

private

Initial value:

= {
                {"gravity", {"%lf", &m_gravity}},
                {"simul_timestep", {"%lf", &m_simul_timestep}},
                {"b2d_vel_iters", {"%i", &m_b2d_vel_iters}},
                {"b2d_pos_iters", {"%i", &m_b2d_pos_iters}},
        }

Definition at line 267 of file World.h.

double mvsim::World::m_simul_time = 0

private

In seconds, real simulation time since beginning (may be different than wall-clock time because of time warp, etc.)

Definition at line 276 of file World.h.

double mvsim::World::m_simul_timestep = 10e-3

private

Simulation fixed-time interval for numerical integration.

Definition at line 262 of file World.h.

SimulableList mvsim::World::m_simulableObjects

private

Definition at line 331 of file World.h.

std::mutex mvsim::World::m_simulationStepRunningMtx

private

Definition at line 336 of file World.h.

mrpt::system::CTicTac mvsim::World::m_timer_iteration

private

Definition at line 376 of file World.h.

mrpt::system::CTimeLogger mvsim::World::m_timlogger

private

Definition at line 375 of file World.h.

VehicleList mvsim::World::m_vehicles

private

Definition at line 324 of file World.h.

std::recursive_mutex mvsim::World::m_world_cs

private

first time the GUI window is created.

Mutex protecting simulation objects from multi-thread access

Definition at line 316 of file World.h.

WorldElementList mvsim::World::m_world_elements

private

Definition at line 325 of file World.h.

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

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Friends

Simulation execution

Visitors API

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation