#include <World.h>

Inheritance diagram for mvsim::World:

Classes
struct	TGUI_Options

struct	TGUIKeyEvent

struct	TUpdateGUIParams

struct	VehicleVisitorBase

struct	WorldElementVisitorBase

Public Types
Public types
typedef std::multimap< std::string, VehicleBase * >	TListVehicles

typedef std::list< WorldElementBase * >	TListWorldElements
	getListOfVehicles() More...

typedef std::multimap< std::string, Block * >	TListBlocks

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

	~World ()
	Dtor. More...

void	clear_all (bool acquire_mt_lock=true)

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

Simulation execution
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=NULL)

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

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

Access inner working objects
getListOfBlocks()
b2World *	getBox2DWorld ()

const b2World *	getBox2DWorld () const

b2Body *	getBox2DGroundBody ()

const TListVehicles &	getListOfVehicles () const

TListVehicles &	getListOfVehicles ()

const TListBlocks &	getListOfBlocks () const

TListBlocks &	getListOfBlocks ()

const TListWorldElements &	getListOfWorldElements () const

CTimeLogger &	getTimeLogger ()

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

Visitors API
void	runVisitorOnVehicles (VehicleVisitorBase &v)

void	runVisitorOnWorldElements (WorldElementVisitorBase &v)

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

Private Member Functions
void	internal_one_timestep (double dt)

Private Attributes
b2Body *	m_b2_ground_body
	Used to declare friction between vehicles-ground. More...

int	m_b2d_pos_iters
	Velocity and position iteration count (Box2D) More...

int	m_b2d_vel_iters
	integration. More...

std::string	m_base_path
	Path from which to take relative directories. More...

TListBlocks	m_blocks

b2World *	m_box2d_world
	objects from multithreading access. More...

double	m_gravity

TGUI_Options	m_gui_options

mrpt::gui::CDisplayWindow3D::Ptr	m_gui_win

double	m_simul_time
	evaluate weights for friction, etc. More...

double	m_simul_timestep

CTicTac	m_timer_iteration

CTimeLogger	m_timlogger

TListVehicles	m_vehicles

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

TListWorldElements	m_world_elements

Friends
class	Block

class	VehicleBase

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.

Definition at line 67 of file World.h.

Member Typedef Documentation

typedef std::multimap<std::string, Block*> mvsim::World::TListBlocks

Map 'block-name' => block object. See

Definition at line 172 of file World.h.

typedef std::multimap<std::string, VehicleBase*> mvsim::World::TListVehicles

Map 'vehicle-name' => vehicle object. See

Definition at line 167 of file World.h.

typedef std::list<WorldElementBase*> mvsim::World::TListWorldElements

getListOfVehicles()

See getListOfWorldElements()

Definition at line 170 of file World.h.

Constructor & Destructor Documentation

World::World ( )

Default ctor: inits an empty world.

Definition at line 22 of file World.cpp.

World::~World ( )

Dtor.

Definition at line 35 of file World.cpp.

Member Function Documentation

void World::clear_all ( bool acquire_mt_lock = true )

Resets the entire

Definition at line 43 of file World.cpp.

void World::close_GUI ( )

a previous call to update_GUI()

Forces closing the GUI window, if any.

Definition at line 63 of file World_gui.cpp.

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 113 of file World.h.

double mvsim::World::get_simul_time ( ) const

inline

Simulation wall-clock time.

Definition at line 99 of file World.h.

double mvsim::World::get_simul_timestep ( ) const

inline

Simulation fixed-time interval for numerical integration.

Definition at line 104 of file World.h.

b2Body* mvsim::World::getBox2DGroundBody ( )

inline

Definition at line 180 of file World.h.

b2World* mvsim::World::getBox2DWorld ( )

inline

Definition at line 178 of file World.h.

const b2World* mvsim::World::getBox2DWorld ( ) const

inline

Definition at line 179 of file World.h.

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

inline

Definition at line 183 of file World.h.

TListBlocks& mvsim::World::getListOfBlocks ( )

inline

Definition at line 184 of file World.h.

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

inline

Definition at line 181 of file World.h.

TListVehicles& mvsim::World::getListOfVehicles ( )

inline

Definition at line 182 of file World.h.

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

inline

Definition at line 185 of file World.h.

CTimeLogger& mvsim::World::getTimeLogger ( )

inline

Definition at line 190 of file World.h.

void World::internal_one_timestep ( double dt )

private

Runs one individual time step

Definition at line 109 of file World.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 61 of file World_gui.cpp.

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

simulation environment to an empty world. acquire_mt_lock determines whether to lock the multithreading semaphore before (set to false only if it's already acquired). 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

Load an entire world description into this object from a specification in XML format.

Exceptions

std::exception On any error, with what() giving a descriptive error message

Definition at line 38 of file World_load_xml.cpp.

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

inlinevirtual

Definition at line 220 of file World.h.

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 210 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 89 of file World.cpp.

void World::runVisitorOnVehicles ( VehicleVisitorBase & v )

Run the user-provided visitor on each vehicle

Definition at line 240 of file World.cpp.

void World::runVisitorOnWorldElements ( WorldElementVisitorBase & v )

Run the user-provided visitor on each world element

Definition at line 248 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 118 of file World.h.

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

inline

Simulation fixed-time interval for numerical integration.

Definition at line 108 of file World.h.

void World::update_GUI ( TUpdateGUIParams * guiparams = NULL )

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.

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

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 68 of file World_gui.cpp.

Friends And Related Function Documentation

friend class Block

friend

Definition at line 235 of file World.h.

friend class VehicleBase

friend

Definition at line 234 of file World.h.

Member Data Documentation

b2Body* mvsim::World::m_b2_ground_body

private

Used to declare friction between vehicles-ground.

Definition at line 274 of file World.h.

int mvsim::World::m_b2d_pos_iters

private

Velocity and position iteration count (Box2D)

Definition at line 245 of file World.h.

int mvsim::World::m_b2d_vel_iters

private

integration.

Definition at line 245 of file World.h.

std::string mvsim::World::m_base_path

private

Path from which to take relative directories.

Definition at line 247 of file World.h.

TListBlocks mvsim::World::m_blocks

private

Definition at line 278 of file World.h.

b2World* mvsim::World::m_box2d_world

private

objects from multithreading access.

Box2D dynamic simulator instance

Definition at line 272 of file World.h.

double mvsim::World::m_gravity

private

Gravity acceleration (Default=9.8 m/s^2). Used to

Definition at line 238 of file World.h.

TGUI_Options mvsim::World::m_gui_options

private

Some of these options are only used the

Definition at line 265 of file World.h.

mrpt::gui::CDisplayWindow3D::Ptr mvsim::World::m_gui_win

private

Definition at line 284 of file World.h.

double mvsim::World::m_simul_time

private

evaluate weights for friction, etc.

In seconds, real simulation time since beginning

Definition at line 240 of file World.h.

double mvsim::World::m_simul_timestep

private

(may be different than wall-clock time because of time warp, etc.) Simulation fixed-time interval for numerical

Definition at line 243 of file World.h.

CTicTac mvsim::World::m_timer_iteration

private

Definition at line 287 of file World.h.

CTimeLogger mvsim::World::m_timlogger

private

Definition at line 286 of file World.h.

TListVehicles mvsim::World::m_vehicles

private

Definition at line 276 of file World.h.

std::mutex mvsim::World::m_world_cs

private

first time the GUI window is created.

The main semaphore to protect simulation

Definition at line 269 of file World.h.

TListWorldElements mvsim::World::m_world_elements

private

Definition at line 277 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

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation