mvsim::Simulable Class Reference

#include <Simulable.h>

Inheritance diagram for mvsim::Simulable:

Public Types
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))
const b2Body *	b2d_body () const
b2Body *	b2d_body ()
virtual void	freeOpenGLResources ()
mrpt::poses::CPose2D	getCPose2D () const
	Alternative to getPose() More...
mrpt::poses::CPose3D	getCPose3D () const
	Alternative to getPose() More...
mrpt::math::TVector3D	getLinearAcceleration () const
const std::string &	getName () const
mrpt::math::TPose3D	getPose () const
mrpt::math::TPose3D	getPoseNoLock () const
	No thread-safe version. Used internally only. More...
World *	getSimulableWorldObject ()
const World *	getSimulableWorldObject () const
mrpt::math::TTwist2D	getTwist () const
mrpt::math::TTwist2D	getVelocityLocal () const
bool	hadCollision () const
bool	isInCollision () const
virtual VisualObject *	meAsVisualObject ()
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)
virtual void	simul_pre_timestep (const TSimulContext &context)
	Simulable (World *parent)

Protected Attributes
std::string	name_

Detailed Description

Definition at line 34 of file Simulable.h.

Member Typedef Documentation

Ptr

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

Definition at line 37 of file Simulable.h.

Constructor & Destructor Documentation

Simulable()

mvsim::Simulable::Simulable ( World *  parent )

inline

Definition at line 39 of file Simulable.h.

Member Function Documentation

apply_force()

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

virtual

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 in mvsim::VehicleBase, and mvsim::Block.

Definition at line 110 of file Simulable.cpp.

b2d_body() [1/2]

const b2Body* mvsim::Simulable::b2d_body ( ) const

inline

Definition at line 110 of file Simulable.h.

b2d_body() [2/2]

b2Body* mvsim::Simulable::b2d_body ( )

inline

Definition at line 111 of file Simulable.h.

freeOpenGLResources()

virtual void mvsim::Simulable::freeOpenGLResources ( )

inlinevirtual

Reimplemented in mvsim::VehicleBase, mvsim::DepthCameraSensor, mvsim::LaserScanner, mvsim::Lidar3D, and mvsim::CameraSensor.

Definition at line 116 of file Simulable.h.

getCPose2D()

mrpt::poses::CPose2D Simulable::getCPose2D

(

)

const

Alternative to getPose()

Definition at line 125 of file Simulable.cpp.

getCPose3D()

mrpt::poses::CPose3D Simulable::getCPose3D

(

)

const

Alternative to getPose()

Definition at line 132 of file Simulable.cpp.

getLinearAcceleration()

mrpt::math::TVector3D Simulable::getLinearAcceleration

(

)

const

Last time-step acceleration of the ref. point (global coords). Note this is the "coordinate acceleration" vector, not the proper acceleration. It is simply estimated as a finite difference of dq_.

Definition at line 456 of file Simulable.cpp.

getName()

const std::string& mvsim::Simulable::getName ( ) const

inline

User-supplied name of the vehicle (e.g. "r1", "veh1")

Definition at line 92 of file Simulable.h.

getPose()

mrpt::math::TPose3D Simulable::getPose

(

)

const

Last time-step pose (of the ref. point, in global coords) (ground-truth)

Definition at line 438 of file Simulable.cpp.

getPoseNoLock()

mrpt::math::TPose3D Simulable::getPoseNoLock

(

)

const

No thread-safe version. Used internally only.

Definition at line 446 of file Simulable.cpp.

getSimulableWorldObject() [1/2]

World* mvsim::Simulable::getSimulableWorldObject ( )

inline

Definition at line 113 of file Simulable.h.

getSimulableWorldObject() [2/2]

const World* mvsim::Simulable::getSimulableWorldObject ( ) const

inline

Definition at line 114 of file Simulable.h.

getTwist()

mrpt::math::TTwist2D Simulable::getTwist

(

)

const

Definition at line 448 of file Simulable.cpp.

getVelocityLocal()

mrpt::math::TTwist2D Simulable::getVelocityLocal

(

)

const

Last time-step velocity (of the ref. point, in local coords)

Definition at line 116 of file Simulable.cpp.

hadCollision()

bool mvsim::Simulable::hadCollision ( ) const

inline

Whether a collision occurred since the last time this flag was manually reset.

See also

isInCollision(), resetCollisionFlag()

Definition at line 103 of file Simulable.h.

isInCollision()

bool mvsim::Simulable::isInCollision ( ) const

inline

Whether is is in collision right now.

See also

Definition at line 98 of file Simulable.h.

meAsVisualObject()

virtual VisualObject* mvsim::Simulable::meAsVisualObject ( )

inlinevirtual

Reimplemented in mvsim::VehicleBase, and mvsim::Block.

Definition at line 59 of file Simulable.h.

registerOnServer()

void Simulable::registerOnServer ( mvsim::Client &  c )

virtual

Reimplemented in mvsim::DummyInvisibleBlock, mvsim::VehicleBase, mvsim::LaserScanner, mvsim::SensorBase, and mvsim::IMU.

Definition at line 406 of file Simulable.cpp.

resetCollisionFlag()

void mvsim::Simulable::resetCollisionFlag ( )

inline

Resets the condition reported by hadCollision() to false

Definition at line 106 of file Simulable.h.

setName()

void mvsim::Simulable::setName ( const std::string &  s )

inline

Changes object name (e.g. "r1", "veh1")

Definition at line 95 of file Simulable.h.

setPose()

void Simulable::setPose

(

const mrpt::math::TPose3D &

p

)

const

Manually override vehicle pose (Use with caution!) (purposely set a "const")

Definition at line 423 of file Simulable.cpp.

setTwist()

void Simulable::setTwist

(

const mrpt::math::TTwist2D &

dq

)

const

Definition at line 464 of file Simulable.cpp.

simul_post_timestep()

void Simulable::simul_post_timestep ( const TSimulContext &  context )

virtual

Override to do any required process right after the integration of dynamic equations for each timestep. IMPORTANT: Reimplementations MUST also call this base method, since it is in charge of important tasks (e.g. update q_, dq_)

Reimplemented in mvsim::DummyInvisibleBlock, mvsim::VehicleBase, mvsim::Block, mvsim::DepthCameraSensor, mvsim::LaserScanner, mvsim::Lidar3D, mvsim::IMU, mvsim::CameraSensor, mvsim::VerticalPlane, mvsim::ElevationMap, and mvsim::HorizontalPlane.

Definition at line 59 of file Simulable.cpp.

simul_pre_timestep()

void Simulable::simul_pre_timestep ( const TSimulContext &  context )

virtual

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

Reimplemented in mvsim::DummyInvisibleBlock, mvsim::VehicleBase, mvsim::Block, mvsim::DepthCameraSensor, mvsim::LaserScanner, mvsim::Lidar3D, mvsim::OccupancyGridMap, mvsim::IMU, mvsim::PointCloud, mvsim::CameraSensor, mvsim::VerticalPlane, mvsim::ElevationMap, and mvsim::HorizontalPlane.

Definition at line 30 of file Simulable.cpp.

Member Data Documentation

name_

std::string mvsim::Simulable::name_

protected

User-supplied name of the vehicle (e.g. "r1", "veh1")

Definition at line 120 of file Simulable.h.

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

• Simulable.h
• Simulable.cpp