#include <World.h>

Inheritance diagram for mvsim::World:

Classes
struct	GUI

struct	LightOptions

struct	TGUI_Options

struct	TGUIKeyEvent

struct	TUpdateGUIParams

struct	XmlParserContext

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 ()

void	free_opengl_resources ()

bool	headless () const

void	headless (bool setHeadless)

auto &	physical_objects_mtx ()

bool	sensor_has_to_create_egl_context ()

const std::map< std::string, std::string > &	user_defined_variables () const

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

	~World ()
	Dtor. More...

void	clear_all ()

void	load_from_XML_file (const std::string &xmlFileNamePath)

void	internal_initialize ()

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 ()
	Always lock/unlock getListOfSimulableObjectsMtx() before using this: More...

const SimulableList &	getListOfSimulableObjects () const

auto &	getListOfSimulableObjectsMtx ()

mrpt::system::CTimeLogger &	getTimeLogger ()

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

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

Private Types
using	xml_tag_parser_function_t = std::function< void(const XmlParserContext &)>

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

void	internal_advertiseServices ()

mrpt::math::TPoint2D	internal_gui_on_image (const std::string &label, const mrpt::img::CImage &im, int winPosX)

void	internal_gui_on_observation (const Simulable &veh, const mrpt::obs::CObservation::Ptr &obs)

void	internal_gui_on_observation_3Dscan (const Simulable &veh, const std::shared_ptr< mrpt::obs::CObservation3DRangeScan > &obs)

void	internal_gui_on_observation_image (const Simulable &veh, const std::shared_ptr< mrpt::obs::CObservationImage > &obs)

void	internal_one_timestep (double dt)

void	internal_recursive_parse_XML (const XmlParserContext &ctx)
	This will parse a main XML file, or its included. More...

void	parse_tag_block (const XmlParserContext &ctx)

void	parse_tag_block_class (const XmlParserContext &ctx)

void	parse_tag_element (const XmlParserContext &ctx)
	`<element>` More...

void	parse_tag_for (const XmlParserContext &ctx)

void	parse_tag_gui (const XmlParserContext &ctx)

void	parse_tag_if (const XmlParserContext &ctx)

void	parse_tag_include (const XmlParserContext &ctx)

void	parse_tag_lights (const XmlParserContext &ctx)

void	parse_tag_sensor (const XmlParserContext &ctx)
	`<sensor>` More...

void	parse_tag_variable (const XmlParserContext &ctx)

void	parse_tag_vehicle (const XmlParserContext &ctx)
	`<vehicle>` More...

void	parse_tag_vehicle_class (const XmlParserContext &ctx)

void	parse_tag_walls (const XmlParserContext &ctx)

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

void	register_standard_xml_tag_parsers ()

void	register_tag_parser (const std::string &xmlTagName, const xml_tag_parser_function_t &f)

void	register_tag_parser (const std::string &xmlTagName, void(World::*f)(const XmlParserContext &ctx))

void	setLightDirectionFromAzimuthElevation (const float azimuth, const float elevation)

Private Attributes
b2Body *	b2_ground_body_ = nullptr

int	b2dPosIters_ = 3

int	b2dVelIters_ = 8

std::string	basePath_ {"."}

BlockList	blocks_

std::unique_ptr< b2World >	box2d_world_

std::vector< on_observation_callback_t >	callbacksOnObservation_

mvsim::Client	client_ {"World"}

std::recursive_mutex	copy_of_objects_dynstate_mtx_

std::map< std::string, mrpt::math::TPose3D >	copy_of_objects_dynstate_pose_
	Updated in internal_one_step() More...

std::map< std::string, mrpt::math::TTwist2D >	copy_of_objects_dynstate_twist_

std::set< std::string >	copy_of_objects_had_collision_

mrpt::opengl::CSetOfObjects::Ptr	glUserObjsPhysical_

mrpt::opengl::CSetOfObjects::Ptr	glUserObjsViz_

double	gravity_ = 9.81

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

std::map< std::string, nanogui::Window * >	guiObsViz_
	by sensorLabel More...

TGUI_Options	guiOptions_

bool	initialized_ = false

LightOptions	lightOptions_

const TParameterDefinitions	otherWorldParams_

RemoteResourcesManager	remoteResources_

std::set< std::string >	reset_collision_flags_

std::mutex	reset_collision_flags_mtx_

std::string	serverAddress_ = "localhost"

std::optional< double >	simul_start_wallclock_time_

std::mutex	simul_time_mtx_

SimulableList	simulableObjects_

std::mutex	simulableObjectsMtx_

std::mutex	simulationStepRunningMtx_

double	simulTime_ = 0

double	simulTimestep_ = 0

mrpt::system::CTicTac	timer_iteration_

mrpt::system::CTimeLogger	timlogger_ {true , "mvsim::World"}

std::map< std::string, std::string >	userDefinedVariables_

VehicleList	vehicles_

std::recursive_mutex	world_cs_

WorldElementList	worldElements_

mrpt::opengl::COpenGLScene	worldPhysical_

std::recursive_mutex	worldPhysicalMtx_

mrpt::opengl::COpenGLScene::Ptr	worldVisual_

std::map< std::string, xml_tag_parser_function_t >	xmlParsers_

Friends
class	Block

class	VehicleBase

Simulation execution
mrpt::opengl::CSetOfObjects::Ptr	guiUserObjectsPhysical_

mrpt::opengl::CSetOfObjects::Ptr	guiUserObjectsViz_

std::mutex	guiUserObjectsMtx_

std::mutex	pendingRunSensorsOn3DSceneMtx_

bool	pendingRunSensorsOn3DScene_ = false

std::string	guiMsgLines_

std::mutex	guiMsgLinesMtx_

std::thread	gui_thread_

std::atomic_bool	gui_thread_running_ = false

std::atomic_bool	simulator_must_close_ = false

std::mutex	gui_thread_start_mtx_

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

std::mutex	guiUserPendingTasksMtx_

TGUIKeyEvent	lastKeyEvent_

std::atomic_bool	lastKeyEventValid_ = false

std::mutex	lastKeyEventMtx_

double	get_simul_time () const

void	force_set_simul_time (double newSimulatedTime)
	Normally should not be called by users, for internal use only. More...

mrpt::Clock::time_point	get_simul_timestamp () const

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

void	set_simul_timestep (double timestep)

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

const mrpt::math::TPoint3D &	gui_mouse_point () const

void	internalGraphicsLoopTasksForSimulation ()

void	internalRunSensorsOn3DScene (mrpt::opengl::COpenGLScene &physicalObjects)

void	internalUpdate3DSceneObjects (mrpt::opengl::COpenGLScene &viz, mrpt::opengl::COpenGLScene &physical)

void	internal_GUI_thread ()

void	internal_process_pending_gui_user_tasks ()

void	mark_as_pending_running_sensors_on_3D_scene ()

void	clear_pending_running_sensors_on_3D_scene ()

bool	pending_running_sensors_on_3D_scene ()

bool	simulator_must_close () const

void	simulator_must_close (bool value)

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 &)>

using	block_visitor_t = std::function< void(Block &)>

void	runVisitorOnVehicles (const vehicle_visitor_t &v)

void	runVisitorOnWorldElements (const world_element_visitor_t &v)

void	runVisitorOnBlocks (const block_visitor_t &v)

Optional user hooks
using	on_observation_callback_t = std::function< void(const Simulable &, const mrpt::obs::CObservation::Ptr &)>

void	registerCallbackOnObservation (const on_observation_callback_t &f)

void	dispatchOnObservation (const Simulable &veh, const mrpt::obs::CObservation::Ptr &obs)

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 62 of file World.h.

Member Typedef Documentation

◆ block_visitor_t

using mvsim::World::block_visitor_t = std::function<void(Block&)>

Definition at line 342 of file World.h.

◆ BlockList

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

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

Definition at line 287 of file World.h.

◆ on_observation_callback_t

using mvsim::World::on_observation_callback_t = std::function<void( const Simulable& , const mrpt::obs::CObservation::Ptr& )>

Definition at line 359 of file World.h.

◆ SimulableList

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 291 of file World.h.

◆ vehicle_visitor_t

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

Definition at line 340 of file World.h.

◆ VehicleList

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

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

Definition at line 281 of file World.h.

◆ world_element_visitor_t

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

Definition at line 341 of file World.h.

◆ WorldElementList

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

See getListOfWorldElements()

Definition at line 284 of file World.h.

◆ xml_tag_parser_function_t

using mvsim::World::xml_tag_parser_function_t = std::function<void(const XmlParserContext&)>

private

Definition at line 673 of file World.h.

Constructor & Destructor Documentation

◆ World()

World::World ( )

Default ctor: inits an empty world.

Definition at line 24 of file World.cpp.

◆ ~World()

World::~World ( )

Dtor.

Definition at line 30 of file World.cpp.

Member Function Documentation

◆ clear_all()

void World::clear_all ( )

Resets the entire simulation environment to an empty world.

Definition at line 49 of file World.cpp.

◆ clear_pending_running_sensors_on_3D_scene()

void mvsim::World::clear_pending_running_sensors_on_3D_scene ( )

inline

Definition at line 219 of file World.h.

◆ close_GUI()

void World::close_GUI ( )

a previous call to update_GUI()

Forces closing the GUI window, if any.

Definition at line 52 of file World_gui.cpp.

◆ commsClient() [1/2]

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

inline

Definition at line 379 of file World.h.

◆ commsClient() [2/2]

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

inline

Definition at line 380 of file World.h.

◆ connectToServer()

void World::connectToServer ( )

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

Definition at line 296 of file World.cpp.

◆ dispatchOnObservation()

void mvsim::World::dispatchOnObservation	(	const Simulable &	veh,
		const mrpt::obs::CObservation::Ptr &	obs
	)

inline

Calls all registered callbacks:

Definition at line 367 of file World.h.

◆ enqueue_task_to_run_in_gui_thread()

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

inline

Definition at line 256 of file World.h.

◆ force_set_simul_time()

void mvsim::World::force_set_simul_time ( double newSimulatedTime )

inline

Normally should not be called by users, for internal use only.

Definition at line 107 of file World.h.

◆ free_opengl_resources()

void World::free_opengl_resources ( )

Definition at line 387 of file World.cpp.

◆ get_gravity()

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 136 of file World.h.

◆ get_simul_time()

double mvsim::World::get_simul_time ( ) const

inline

Seconds since start of simulation.

See also: get_simul_timestamp()

Definition at line 100 of file World.h.

◆ get_simul_timestamp()

mrpt::Clock::time_point mvsim::World::get_simul_timestamp ( ) const

inline

Get the current simulation full timestamp, computed as the real wall clock timestamp at the beginning of the simulation, plus the number of seconds simulation has run.

See also: get_simul_time()

Definition at line 118 of file World.h.

◆ get_simul_timestep()

double World::get_simul_timestep ( ) const

Simulation fixed-time interval for numerical integration.

Definition at line 333 of file World.cpp.

◆ getBox2DGroundBody()

b2Body* mvsim::World::getBox2DGroundBody ( )

inline

Definition at line 302 of file World.h.

◆ getBox2DWorld() [1/2]

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

inline

Definition at line 297 of file World.h.

◆ getBox2DWorld() [2/2]

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

inline

Definition at line 298 of file World.h.

◆ getListOfBlocks() [1/2]

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

inline

Definition at line 305 of file World.h.

◆ getListOfBlocks() [2/2]

BlockList& mvsim::World::getListOfBlocks ( )

inline

Definition at line 306 of file World.h.

◆ getListOfSimulableObjects() [1/2]

SimulableList& mvsim::World::getListOfSimulableObjects ( )

inline

Always lock/unlock getListOfSimulableObjectsMtx() before using this:

Definition at line 313 of file World.h.

◆ getListOfSimulableObjects() [2/2]

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

inline

Definition at line 314 of file World.h.

◆ getListOfSimulableObjectsMtx()

auto& mvsim::World::getListOfSimulableObjectsMtx ( )

inline

Definition at line 318 of file World.h.

◆ getListOfVehicles() [1/2]

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

inline

Definition at line 303 of file World.h.

◆ getListOfVehicles() [2/2]

VehicleList& mvsim::World::getListOfVehicles ( )

inline

Definition at line 304 of file World.h.

◆ getListOfWorldElements()

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

inline

Definition at line 307 of file World.h.

◆ getTimeLogger()

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

inline

Definition at line 320 of file World.h.

◆ gui_mouse_point()

const mrpt::math::TPoint3D& mvsim::World::gui_mouse_point ( ) const

inline

Definition at line 183 of file World.h.

◆ gui_window()

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

inline

Definition at line 178 of file World.h.

◆ headless() [1/2]

bool mvsim::World::headless ( ) const

inline

Definition at line 386 of file World.h.

◆ headless() [2/2]

void mvsim::World::headless ( bool setHeadless )

inline

Definition at line 387 of file World.h.

◆ insertBlock()

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

private

Definition at line 317 of file World.cpp.

◆ internal_advertiseServices()

void World::internal_advertiseServices ( )

private

Definition at line 190 of file World_services.cpp.

◆ internal_gui_on_image()

mrpt::math::TPoint2D World::internal_gui_on_image	(	const std::string &	label,
		const mrpt::img::CImage &	im,
		int	winPosX
	)

private

Definition at line 985 of file World_gui.cpp.

◆ internal_gui_on_observation()

void World::internal_gui_on_observation	(	const Simulable &	veh,
		const mrpt::obs::CObservation::Ptr &	obs
	)

private

Definition at line 921 of file World_gui.cpp.

◆ internal_gui_on_observation_3Dscan()

void World::internal_gui_on_observation_3Dscan	(	const Simulable &	veh,
		const std::shared_ptr< mrpt::obs::CObservation3DRangeScan > &	obs
	)

private

Definition at line 940 of file World_gui.cpp.

◆ internal_gui_on_observation_image()

void World::internal_gui_on_observation_image	(	const Simulable &	veh,
		const std::shared_ptr< mrpt::obs::CObservationImage > &	obs
	)

private

Definition at line 971 of file World_gui.cpp.

◆ internal_GUI_thread()

void World::internal_GUI_thread ( )

Definition at line 444 of file World_gui.cpp.

◆ internal_initialize()

void World::internal_initialize ( )

Definition at line 71 of file World.cpp.

◆ internal_one_timestep()

void World::internal_one_timestep ( double dt )

private

Runs one individual time step

Definition at line 146 of file World.cpp.

◆ internal_process_pending_gui_user_tasks()

void World::internal_process_pending_gui_user_tasks ( )

Definition at line 744 of file World_gui.cpp.

◆ internal_recursive_parse_XML()

void World::internal_recursive_parse_XML ( const XmlParserContext & ctx )

private

This will parse a main XML file, or its included.

Definition at line 119 of file World_load_xml.cpp.

◆ internalGraphicsLoopTasksForSimulation()

void World::internalGraphicsLoopTasksForSimulation ( )

Update 3D vehicles, sensors, run render-based sensors, etc: Called from World_gui thread in normal mode, or mvsim-cli in headless mode.

Definition at line 1036 of file World_gui.cpp.

◆ internalRunSensorsOn3DScene()

void World::internalRunSensorsOn3DScene ( mrpt::opengl::COpenGLScene & physicalObjects )

Definition at line 757 of file World_gui.cpp.

◆ internalUpdate3DSceneObjects()

void World::internalUpdate3DSceneObjects	(	mrpt::opengl::COpenGLScene &	viz,
		mrpt::opengl::COpenGLScene &	physical
	)

Definition at line 771 of file World_gui.cpp.

◆ is_GUI_open()

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 50 of file World_gui.cpp.

◆ load_from_XML()

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 34 of file World_load_xml.cpp.

◆ load_from_XML_file()

void World::load_from_XML_file ( const std::string & xmlFileNamePath )

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

Parameters

[in] xmlFileNamePath The relative or full path to the XML file.

Exceptions

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

Definition at line 28 of file World_load_xml.cpp.

◆ local_to_abs_path()

std::string World::local_to_abs_path ( const std::string & s_in ) const

Replace macros, prefix the base_path if input filename is relative, etc.

See also: xmlPathToActualPath

Replace macros, prefix the base_path if input filename is relative, etc.

Definition at line 252 of file World.cpp.

◆ mark_as_pending_running_sensors_on_3D_scene()

void mvsim::World::mark_as_pending_running_sensors_on_3D_scene ( )

inline

Definition at line 213 of file World.h.

◆ parse_tag_block()

void World::parse_tag_block ( const XmlParserContext & ctx )

private

Definition at line 203 of file World_load_xml.cpp.

◆ parse_tag_block_class()

void World::parse_tag_block_class ( const XmlParserContext & ctx )

private

Definition at line 210 of file World_load_xml.cpp.

◆ parse_tag_element()

void World::parse_tag_element ( const XmlParserContext & ctx )

private

<element>

Definition at line 153 of file World_load_xml.cpp.

◆ parse_tag_for()

void World::parse_tag_for ( const XmlParserContext & ctx )

private

Definition at line 282 of file World_load_xml.cpp.

◆ parse_tag_gui()

void World::parse_tag_gui ( const XmlParserContext & ctx )

private

Definition at line 216 of file World_load_xml.cpp.

◆ parse_tag_if()

void World::parse_tag_if ( const XmlParserContext & ctx )

private

Definition at line 321 of file World_load_xml.cpp.

◆ parse_tag_include()

void World::parse_tag_include ( const XmlParserContext & ctx )

private

Definition at line 233 of file World_load_xml.cpp.

◆ parse_tag_lights()

void World::parse_tag_lights ( const XmlParserContext & ctx )

private

Definition at line 222 of file World_load_xml.cpp.

◆ parse_tag_sensor()

void World::parse_tag_sensor ( const XmlParserContext & ctx )

private

<sensor>

Definition at line 188 of file World_load_xml.cpp.

◆ parse_tag_variable()

void World::parse_tag_variable ( const XmlParserContext & ctx )

private

Definition at line 263 of file World_load_xml.cpp.

◆ parse_tag_vehicle()

void World::parse_tag_vehicle ( const XmlParserContext & ctx )

private

<vehicle>

Definition at line 164 of file World_load_xml.cpp.

◆ parse_tag_vehicle_class()

void World::parse_tag_vehicle_class ( const XmlParserContext & ctx )

private

<vehicle:class>

Definition at line 182 of file World_load_xml.cpp.

◆ parse_tag_walls()

void World::parse_tag_walls ( const XmlParserContext & ctx )

private

Definition at line 228 of file World_load_xml.cpp.

◆ pending_running_sensors_on_3D_scene()

bool mvsim::World::pending_running_sensors_on_3D_scene ( )

inline

Definition at line 225 of file World.h.

◆ physical_objects_mtx()

auto& mvsim::World::physical_objects_mtx ( )

inline

Definition at line 384 of file World.h.

◆ process_load_walls()

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

private

Definition at line 122 of file World_walls.cpp.

◆ register_standard_xml_tag_parsers()

void World::register_standard_xml_tag_parsers ( )

private

Definition at line 98 of file World_load_xml.cpp.

◆ register_tag_parser() [1/2]

void mvsim::World::register_tag_parser	(	const std::string &	xmlTagName,
		const xml_tag_parser_function_t &	f
	)

inlineprivate

Definition at line 679 of file World.h.

◆ register_tag_parser() [2/2]

void mvsim::World::register_tag_parser	(	const std::string &	xmlTagName,
		void(World::*)(const XmlParserContext &ctx)	f
	)

inlineprivate

Definition at line 684 of file World.h.

◆ registerCallbackOnObservation()

void mvsim::World::registerCallbackOnObservation ( const on_observation_callback_t & f )

inline

Definition at line 361 of file World.h.

◆ run_simulation()

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 103 of file World.cpp.

◆ runVisitorOnBlocks()

void World::runVisitorOnBlocks ( const block_visitor_t & v )

Run the user-provided visitor on each world block

Definition at line 290 of file World.cpp.

◆ runVisitorOnVehicles()

void World::runVisitorOnVehicles ( const vehicle_visitor_t & v )

Run the user-provided visitor on each vehicle

Definition at line 278 of file World.cpp.

◆ runVisitorOnWorldElements()

void World::runVisitorOnWorldElements ( const world_element_visitor_t & v )

Run the user-provided visitor on each world element

Definition at line 284 of file World.cpp.

◆ sensor_has_to_create_egl_context()

bool World::sensor_has_to_create_egl_context ( )

Definition at line 397 of file World.cpp.

◆ set_gravity()

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 140 of file World.h.

◆ set_simul_timestep()

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

inline

Simulation fixed-time interval for numerical integration 0 means auto-determine as the minimum of 50 ms and the shortest sensor sample period.

Definition at line 132 of file World.h.

◆ setLightDirectionFromAzimuthElevation()

void World::setLightDirectionFromAzimuthElevation	(	const float	azimuth,
		const float	elevation
	)

private

Changes the light source direction from azimuth and elevation angles (in radians)

Definition at line 1070 of file World_gui.cpp.

◆ simulator_must_close() [1/2]

bool mvsim::World::simulator_must_close ( ) const

inline

Definition at line 242 of file World.h.

◆ simulator_must_close() [2/2]

void mvsim::World::simulator_must_close ( bool value )

inline

Definition at line 249 of file World.h.

◆ update_GUI()

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 855 of file World_gui.cpp.

◆ user_defined_variables()

const std::map<std::string, std::string>& mvsim::World::user_defined_variables ( ) const

inline

Definition at line 391 of file World.h.

◆ xmlPathToActualPath()

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

Parses URIs in all the forms explained in RemoteResourcesManager::resolve_path(), then passes it through local_to_abs_path().

See also: local_to_abs_path

Definition at line 244 of file World.cpp.

Friends And Related Function Documentation

◆ Block

friend class Block

friend

Definition at line 398 of file World.h.

◆ VehicleBase

friend class VehicleBase

friend

Definition at line 397 of file World.h.

Member Data Documentation

◆ b2_ground_body_

b2Body* mvsim::World::b2_ground_body_ = nullptr

private

Used to declare friction between vehicles-ground

Definition at line 553 of file World.h.

◆ b2dPosIters_

int mvsim::World::b2dPosIters_ = 3

private

Definition at line 416 of file World.h.

◆ b2dVelIters_

int mvsim::World::b2dVelIters_ = 8

private

Velocity and position iteration count (refer to libbox2d docs)

Definition at line 416 of file World.h.

◆ basePath_

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

private

Path from which to take relative directories.

Definition at line 439 of file World.h.

◆ blocks_

BlockList mvsim::World::blocks_

private

Definition at line 557 of file World.h.

◆ box2d_world_

std::unique_ptr<b2World> mvsim::World::box2d_world_

private

Box2D dynamic simulator instance

Definition at line 550 of file World.h.

◆ callbacksOnObservation_

std::vector<on_observation_callback_t> mvsim::World::callbacksOnObservation_

private

Definition at line 402 of file World.h.

◆ client_

mvsim::Client mvsim::World::client_ {"World"}

private

Definition at line 400 of file World.h.

◆ copy_of_objects_dynstate_mtx_

std::recursive_mutex mvsim::World::copy_of_objects_dynstate_mtx_

private

Definition at line 625 of file World.h.

◆ copy_of_objects_dynstate_pose_

std::map<std::string, mrpt::math::TPose3D> mvsim::World::copy_of_objects_dynstate_pose_

private

Updated in internal_one_step()

Definition at line 622 of file World.h.

◆ copy_of_objects_dynstate_twist_

std::map<std::string, mrpt::math::TTwist2D> mvsim::World::copy_of_objects_dynstate_twist_

private

Definition at line 623 of file World.h.

◆ copy_of_objects_had_collision_

std::set<std::string> mvsim::World::copy_of_objects_had_collision_

private

Definition at line 624 of file World.h.

◆ glUserObjsPhysical_

mrpt::opengl::CSetOfObjects::Ptr mvsim::World::glUserObjsPhysical_

private

Initial value:

=

mrpt::opengl::CSetOfObjects::Create()

This private container will be filled with objects in the public gui_user_objects_

Definition at line 443 of file World.h.

◆ glUserObjsViz_

mrpt::opengl::CSetOfObjects::Ptr mvsim::World::glUserObjsViz_

private

Initial value:

=

mrpt::opengl::CSetOfObjects::Create()

Definition at line 445 of file World.h.

◆ gravity_

double mvsim::World::gravity_ = 9.81

private

Gravity acceleration (Default=9.81 m/s^2). Used to evaluate weights for friction, etc.

Definition at line 407 of file World.h.

◆ gui_

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

private

gui state

Definition at line 605 of file World.h.

◆ gui_thread_

std::thread mvsim::World::gui_thread_

Definition at line 236 of file World.h.

◆ gui_thread_running_

std::atomic_bool mvsim::World::gui_thread_running_ = false

Definition at line 238 of file World.h.

◆ gui_thread_start_mtx_

std::mutex mvsim::World::gui_thread_start_mtx_

mutable

Definition at line 240 of file World.h.

◆ guiMsgLines_

std::string mvsim::World::guiMsgLines_

Definition at line 233 of file World.h.

◆ guiMsgLinesMtx_

std::mutex mvsim::World::guiMsgLinesMtx_

Definition at line 234 of file World.h.

◆ guiObsViz_

std::map<std::string, nanogui::Window*> mvsim::World::guiObsViz_

private

by sensorLabel

Definition at line 642 of file World.h.

◆ guiOptions_

TGUI_Options mvsim::World::guiOptions_

private

Some of these options are only used the first time the GUI window is created.

Definition at line 495 of file World.h.

◆ guiUserObjectsMtx_

std::mutex mvsim::World::guiUserObjectsMtx_

Definition at line 195 of file World.h.

◆ guiUserObjectsPhysical_

mrpt::opengl::CSetOfObjects::Ptr mvsim::World::guiUserObjectsPhysical_

If !=null, a set of objects to be rendered merged with the default visualization. Lock the mutex gui_user_objects_mtx_ while writing. There are two sets of objects: "viz" for visualization only, "physical" for objects which should be detected by sensors.

Definition at line 193 of file World.h.

◆ guiUserObjectsViz_

mrpt::opengl::CSetOfObjects::Ptr mvsim::World::guiUserObjectsViz_

Definition at line 193 of file World.h.

◆ guiUserPendingTasks_

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

Definition at line 263 of file World.h.

◆ guiUserPendingTasksMtx_

std::mutex mvsim::World::guiUserPendingTasksMtx_

Definition at line 264 of file World.h.

◆ initialized_

bool mvsim::World::initialized_ = false

private

Definition at line 559 of file World.h.

◆ lastKeyEvent_

TGUIKeyEvent mvsim::World::lastKeyEvent_

Definition at line 266 of file World.h.

◆ lastKeyEventMtx_

std::mutex mvsim::World::lastKeyEventMtx_

Definition at line 268 of file World.h.

◆ lastKeyEventValid_

std::atomic_bool mvsim::World::lastKeyEventValid_ = false

Definition at line 267 of file World.h.

◆ lightOptions_

LightOptions mvsim::World::lightOptions_

private

Options for lights

Definition at line 543 of file World.h.

◆ otherWorldParams_

const TParameterDefinitions mvsim::World::otherWorldParams_

private

Initial value:

= {
                {"server_address", {"%s", &serverAddress_}},
                {"gravity", {"%lf", &gravity_}},
                {"simul_timestep", {"%lf", &simulTimestep_}},
                {"b2d_vel_iters", {"%i", &b2dVelIters_}},
                {"b2d_pos_iters", {"%i", &b2dPosIters_}},
        }

Definition at line 420 of file World.h.

◆ pendingRunSensorsOn3DScene_

bool mvsim::World::pendingRunSensorsOn3DScene_ = false

Definition at line 211 of file World.h.

◆ pendingRunSensorsOn3DSceneMtx_

std::mutex mvsim::World::pendingRunSensorsOn3DSceneMtx_

Definition at line 210 of file World.h.

◆ remoteResources_

RemoteResourcesManager mvsim::World::remoteResources_

mutableprivate

Definition at line 711 of file World.h.

◆ reset_collision_flags_

std::set<std::string> mvsim::World::reset_collision_flags_

private

Definition at line 627 of file World.h.

◆ reset_collision_flags_mtx_

std::mutex mvsim::World::reset_collision_flags_mtx_

private

Definition at line 628 of file World.h.

◆ serverAddress_

std::string mvsim::World::serverAddress_ = "localhost"

private

Definition at line 418 of file World.h.

◆ simul_start_wallclock_time_

std::optional<double> mvsim::World::simul_start_wallclock_time_

private

Definition at line 435 of file World.h.

◆ simul_time_mtx_

std::mutex mvsim::World::simul_time_mtx_

private

Definition at line 436 of file World.h.

◆ simulableObjects_

SimulableList mvsim::World::simulableObjects_

private

Definition at line 564 of file World.h.

◆ simulableObjectsMtx_

std::mutex mvsim::World::simulableObjectsMtx_

private

Definition at line 565 of file World.h.

◆ simulationStepRunningMtx_

std::mutex mvsim::World::simulationStepRunningMtx_

private

Definition at line 570 of file World.h.

◆ simulator_must_close_

std::atomic_bool mvsim::World::simulator_must_close_ = false

Definition at line 239 of file World.h.

◆ simulTime_

double mvsim::World::simulTime_ = 0

private

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

Definition at line 434 of file World.h.

◆ simulTimestep_

double mvsim::World::simulTimestep_ = 0

mutableprivate

Simulation fixed-time interval for numerical integration. 0 means auto-determine as the minimum of 50 ms and the shortest sensor sample period.

Definition at line 413 of file World.h.

◆ timer_iteration_

mrpt::system::CTicTac mvsim::World::timer_iteration_

private

Definition at line 652 of file World.h.

◆ timlogger_

mrpt::system::CTimeLogger mvsim::World::timlogger_ {true , "mvsim::World"}

private

Definition at line 651 of file World.h.

◆ userDefinedVariables_

std::map<std::string, std::string> mvsim::World::userDefinedVariables_

private

User-defined variables as defined via `<variable name="" value=""> tags in the World xml file, for use within$f{}` expressions

Definition at line 430 of file World.h.

◆ vehicles_

VehicleList mvsim::World::vehicles_

private

Definition at line 555 of file World.h.

◆ world_cs_

std::recursive_mutex mvsim::World::world_cs_

private

Mutex protecting simulation objects from multi-thread access

Definition at line 547 of file World.h.

◆ worldElements_

WorldElementList mvsim::World::worldElements_

private

Definition at line 556 of file World.h.

◆ worldPhysical_

mrpt::opengl::COpenGLScene mvsim::World::worldPhysical_

private

3D scene with all physically observable objects: we will use this scene as input to simulated sensors like cameras, where we don't wont to see visualization marks, etc.

See also: world_visual_

Definition at line 618 of file World.h.

◆ worldPhysicalMtx_

std::recursive_mutex mvsim::World::worldPhysicalMtx_

private

Definition at line 619 of file World.h.

◆ worldVisual_

mrpt::opengl::COpenGLScene::Ptr mvsim::World::worldVisual_

private

Initial value:

=

mrpt::opengl::COpenGLScene::Create()

3D scene with all visual objects (vehicles, obstacles, markers, etc.)

See also: worldPhysical_

Definition at line 610 of file World.h.

◆ xmlParsers_

std::map<std::string, xml_tag_parser_function_t> mvsim::World::xmlParsers_

private

Definition at line 675 of file World.h.

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

Classes

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Friends

Simulation execution

Visitors API

Optional user hooks

Detailed Description

Member Typedef Documentation

◆ block_visitor_t

◆ BlockList

◆ on_observation_callback_t

◆ SimulableList

◆ vehicle_visitor_t

◆ VehicleList

◆ world_element_visitor_t

◆ WorldElementList

◆ xml_tag_parser_function_t

Constructor & Destructor Documentation

◆ World()

◆ ~World()

Member Function Documentation

◆ clear_all()

◆ clear_pending_running_sensors_on_3D_scene()

◆ close_GUI()

◆ commsClient() [1/2]

◆ commsClient() [2/2]

◆ connectToServer()

◆ dispatchOnObservation()

◆ enqueue_task_to_run_in_gui_thread()

◆ force_set_simul_time()

◆ free_opengl_resources()

◆ get_gravity()

◆ get_simul_time()

◆ get_simul_timestamp()

◆ get_simul_timestep()

◆ getBox2DGroundBody()

◆ getBox2DWorld() [1/2]

◆ getBox2DWorld() [2/2]

◆ getListOfBlocks() [1/2]

◆ getListOfBlocks() [2/2]

◆ getListOfSimulableObjects() [1/2]

◆ getListOfSimulableObjects() [2/2]

◆ getListOfSimulableObjectsMtx()

◆ getListOfVehicles() [1/2]

◆ getListOfVehicles() [2/2]

◆ getListOfWorldElements()

◆ getTimeLogger()

◆ gui_mouse_point()

◆ gui_window()

◆ headless() [1/2]

◆ headless() [2/2]

◆ insertBlock()

◆ internal_advertiseServices()

◆ internal_gui_on_image()

◆ internal_gui_on_observation()

◆ internal_gui_on_observation_3Dscan()

◆ internal_gui_on_observation_image()

◆ internal_GUI_thread()

◆ internal_initialize()

◆ internal_one_timestep()

◆ internal_process_pending_gui_user_tasks()

◆ internal_recursive_parse_XML()

◆ internalGraphicsLoopTasksForSimulation()

◆ internalRunSensorsOn3DScene()

◆ internalUpdate3DSceneObjects()

◆ is_GUI_open()

◆ load_from_XML()

◆ load_from_XML_file()

◆ local_to_abs_path()

◆ mark_as_pending_running_sensors_on_3D_scene()

◆ parse_tag_block()

◆ parse_tag_block_class()

◆ parse_tag_element()

◆ parse_tag_for()

◆ parse_tag_gui()

◆ parse_tag_if()