mvsim Namespace Reference

Namespaces
	internal

Classes
class	Block
class	ClassFactory
class	Client
class	ControllerBaseInterface
class	ControllerBaseTempl
class	DefaultFriction
class	DynamicsAckermann
class	DynamicsAckermannDrivetrain
class	DynamicsDifferential
class	ElevationMap
class	FrictionBase
class	GroundGrid
class	JointXMLnode
class	LaserScanner
class	OccupancyGridMap
struct	PID_Controller
class	SensorBase
class	Server
class	Simulable
struct	TParamEntry
struct	TSimulContext
class	VehicleBase
class	VisualObject
class	WardIagnemmaFriction
class	Wheel
class	World
class	WorldElementBase
class	XmlClassesRegistry

Typedefs
typedef std::shared_ptr< FrictionBase >	FrictionBasePtr
typedef ClassFactory< FrictionBase, VehicleBase &, const rapidxml::xml_node< char > * >	TClassFactory_friction
typedef ClassFactory< SensorBase, VehicleBase &, const rapidxml::xml_node< char > * >	TClassFactory_sensors
typedef ClassFactory< VehicleBase, World * >	TClassFactory_vehicleDynamics
using	TClassFactory_worldElements = ClassFactory< WorldElementBase, World *, const rapidxml::xml_node< char > * >
using	TParameterDefinitions = std::map< std::string, TParamEntry >

Functions
std::string	parse (const std::string &input, const std::map< std::string, std::string > &variableNamesValues={})
bool	parse_xmlnode_as_param (const rapidxml::xml_node< char > &xml_node, const TParameterDefinitions &params, const std::map< std::string, std::string > &variableNamesValues={}, const char *functionNameContext="")
void	parse_xmlnode_attribs (const rapidxml::xml_node< char > &xml_node, const TParameterDefinitions &params, const std::map< std::string, std::string > &variableNamesValues={}, const char *functionNameContext="")
void	parse_xmlnode_children_as_param (const rapidxml::xml_node< char > &xml_node, const TParameterDefinitions &params, const std::map< std::string, std::string > &variableNamesValues={}, const char *functionNameContext="")
void	parse_xmlnode_shape (const rapidxml::xml_node< char > &xml_node, mrpt::math::TPolygon2D &out_poly, const char *functionNameContext="")
template<class NODE_LIST >
void	parse_xmlnodelist_children_as_param (NODE_LIST &lst_nodes, const TParameterDefinitions &params, const char *functionNameContext="")
mrpt::math::TPose2D	parseXYPHI (const std::string &s, bool allow_missing_angle=false, double default_angle_radians=0.0)

Variables
TClassFactory_friction	classFactory_friction
TClassFactory_sensors	classFactory_sensors
TClassFactory_vehicleDynamics	classFactory_vehicleDynamics
TClassFactory_worldElements	classFactory_worldElements
constexpr unsigned int	MVSIM_PORTNO_MAIN_REP = 23700

Typedef Documentation

typedef std::shared_ptr<FrictionBase> mvsim::FrictionBasePtr

Definition at line 71 of file FrictionBase.h.

typedef ClassFactory< FrictionBase, VehicleBase&, const rapidxml::xml_node<char>*> mvsim::TClassFactory_friction

Definition at line 76 of file FrictionBase.h.

typedef ClassFactory<SensorBase, VehicleBase&, const rapidxml::xml_node<char>*> mvsim::TClassFactory_sensors

Definition at line 61 of file SensorBase.h.

typedef ClassFactory<VehicleBase, World*> mvsim::TClassFactory_vehicleDynamics

Definition at line 246 of file VehicleBase.h.

using mvsim::TClassFactory_worldElements = typedef ClassFactory<WorldElementBase, World*, const rapidxml::xml_node<char>*>

Definition at line 41 of file WorldElementBase.h.

using mvsim::TParameterDefinitions = typedef std::map<std::string, TParamEntry>

Container mapping a list of parameter names to their type definitions and actual placeholder variables where to store their values when reading a configuration file.

Definition at line 60 of file TParameterDefinitions.h.

Function Documentation

std::string mvsim::parse	(	const std::string &	input,
		const std::map< std::string, std::string > &	variableNamesValues = {}
	)

Parse a string (typically as read from an XML file) and replaces the following expressions:

• ${VAR}: Variable names.
• $env{VAR}: Environment variables.
• : The output from an external program.

Definition at line 132 of file parse_utils.cpp.

bool mvsim::parse_xmlnode_as_param	(	const rapidxml::xml_node< char > &	xml_node,
		const TParameterDefinitions &	params,
		const std::map< std::string, std::string > &	variableNamesValues = {},
		const char *	functionNameContext = ""
	)

Check whether the given XML node name matches any of the param list

Returns

false if no match found

See also

parse_xmlnode_children_as_param

Definition at line 157 of file xml_utils.cpp.

void mvsim::parse_xmlnode_attribs	(	const rapidxml::xml_node< char > &	xml_node,
		const TParameterDefinitions &	params,
		const std::map< std::string, std::string > &	variableNamesValues = {},
		const char *	functionNameContext = ""
	)

Definition at line 140 of file xml_utils.cpp.

void mvsim::parse_xmlnode_children_as_param	(	const rapidxml::xml_node< char > &	root,
		const TParameterDefinitions &	params,
		const std::map< std::string, std::string > &	variableNamesValues = {},
		const char *	functionNameContext = ""
	)

Call parse_xmlnode_as_param() for all children nodes of the given node.

Definition at line 179 of file xml_utils.cpp.

void mvsim::parse_xmlnode_shape	(	const rapidxml::xml_node< char > &	xml_node,
		mrpt::math::TPolygon2D &	out_poly,
		const char *	functionNameContext = ""
	)

Parses a <shape><pt>X Y</pt>...</shape> XML node into a mrpt::math::TPolygon2D

Exceptions

std::exception

On syntax errors, etc.

Definition at line 222 of file xml_utils.cpp.

template<class NODE_LIST >

void mvsim::parse_xmlnodelist_children_as_param	(	NODE_LIST &	lst_nodes,
		const TParameterDefinitions &	params,
		const char *	functionNameContext = ""
	)

Definition at line 51 of file xml_utils.h.

mrpt::math::TPose2D mvsim::parseXYPHI	(	const std::string &	s,
		bool	allow_missing_angle = false,
		double	default_angle_radians = 0.0
	)

Parses a string like "XXX YYY PHI" with X,Y in meters, PHI in degrees, and returns a mrpt::math::TTwist2D with [x,y,phi] with angle in radians. Raises an exception upon malformed string.

Definition at line 198 of file xml_utils.cpp.

Variable Documentation

TClassFactory_friction mvsim::classFactory_friction

Definition at line 19 of file FrictionBase.cpp.

TClassFactory_sensors mvsim::classFactory_sensors

Definition at line 29 of file SensorBase.cpp.

TClassFactory_vehicleDynamics mvsim::classFactory_vehicleDynamics

Definition at line 38 of file VehicleBase.cpp.

TClassFactory_worldElements mvsim::classFactory_worldElements

Definition at line 23 of file WorldElementBase.cpp.