Namespaces
	internal

Classes
class	Block

class	CameraSensor

class	ClassFactory

class	Client

class	CollisionShapeCache

class	ControllerBaseInterface

class	ControllerBaseTempl

class	DefaultFriction

class	DepthCameraSensor

class	DummyInvisibleBlock

class	DynamicsAckermann

class	DynamicsAckermannDrivetrain

class	DynamicsDifferential

class	DynamicsDifferential_3_wheels

class	DynamicsDifferential_4_wheels

class	ElevationMap

class	FrictionBase

class	GroundGrid

class	HorizontalPlane

class	IMU
	An Inertial Measurement Unit (IMU) sensor. More...

class	JointXMLnode

class	LaserScanner
	A 2D lidar scanner, with FOV up to 360 degrees. More...

class	Lidar3D
	A 3D LiDAR sensor, with 360 degrees horizontal fielf-of-view, and a configurable vertical FOV. The number of rays in the vertical FOV and the number of samples in each horizontal row are configurable. More...

class	ModelsCache

class	OccupancyGridMap

struct	ParseSimulableParams

struct	PID_Controller

class	PointCloud

class	RemoteResourcesManager

class	SensorBase

class	Server

class	Shape2p5

class	Simulable

class	SkyBox

struct	TParamEntry

struct	TSimulContext

class	VehicleBase

class	VerticalPlane

class	VisualObject

class	WardIagnemmaFriction

class	Wheel

class	World

class	WorldElementBase

struct	XML_Doc_Data

class	XmlClassesRegistry

Typedefs
using	FrictionBasePtr = std::shared_ptr< FrictionBase >

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

using	TClassFactory_sensors = ClassFactory< SensorBase, Simulable &, const rapidxml::xml_node< char > * >

typedef ClassFactory< VehicleBase, World * >	TClassFactory_vehicleDynamics

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

using	TListSensors = std::vector< SensorBase::Ptr >

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

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

std::string	parse_variables (const std::string &in, const std::map< std::string, std::string > &variables, const std::set< std::string > &varsRetain)

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="", mrpt::system::COutputLogger logger=nullptr)

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, const std::map< std::string, std::string > &variableNamesValues={})

std::tuple< XML_Doc_Data::Ptr, rapidxml::xml_node<> * >	readXmlAndGetRoot (const std::string &pathToFile, const std::map< std::string, std::string > &variables, const std::set< std::string > &varsRetain={})

std::tuple< std::shared_ptr< rapidxml::xml_document<> >, rapidxml::xml_node<> * >	readXmlTextAndGetRoot (const std::string &xmlData, const std::string &pathToFile)

Variables
TClassFactory_friction	classFactory_friction

TClassFactory_sensors	classFactory_sensors

TClassFactory_vehicleDynamics	classFactory_vehicleDynamics

TClassFactory_worldElements	classFactory_worldElements

constexpr uintptr_t	INVISIBLE_FIXTURE_USER_DATA = 1
	Used to signal a Box2D fixture as "invisible" to sensors. More...

constexpr unsigned int	MVSIM_PORTNO_MAIN_REP = 23700

Typedef Documentation

◆ FrictionBasePtr

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

Definition at line 71 of file FrictionBase.h.

◆ TClassFactory_friction

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

Definition at line 76 of file FrictionBase.h.

◆ TClassFactory_sensors

using mvsim::TClassFactory_sensors = typedef ClassFactory<SensorBase, Simulable&, const rapidxml::xml_node<char>*>

Definition at line 114 of file SensorBase.h.

◆ TClassFactory_vehicleDynamics

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

Definition at line 259 of file VehicleBase.h.

◆ TClassFactory_worldElements

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

Definition at line 41 of file WorldElementBase.h.

◆ TListSensors

using mvsim::TListSensors = typedef std::vector<SensorBase::Ptr>

Definition at line 110 of file SensorBase.h.

◆ TParameterDefinitions

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 64 of file TParameterDefinitions.h.

Function Documentation

◆ parse()

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 211 of file parse_utils.cpp.

◆ parse_variables()

std::string mvsim::parse_variables	(	const std::string &	in,
		const std::map< std::string, std::string > &	variables,
		const std::set< std::string > &	varsRetain
	)

Replaces: Variables are first searched in the "<include />" attributes, or as environment variables if not found.

${VAR}: var contents. Throw on undefined var.
${VAR|DEFAULT}: var contents, or DEFAULT if undefined.

Definition at line 447 of file xml_utils.cpp.

◆ parse_xmlnode_as_param()

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 202 of file xml_utils.cpp.

◆ parse_xmlnode_attribs()

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 184 of file xml_utils.cpp.

◆ parse_xmlnode_children_as_param()

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 = `""`,
		mrpt::system::COutputLogger *	logger = `nullptr`
	)

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

Definition at line 224 of file xml_utils.cpp.

◆ parse_xmlnode_shape()

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 271 of file xml_utils.cpp.

◆ parse_xmlnodelist_children_as_param()

template<class NODE_LIST >

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

Definition at line 88 of file xml_utils.h.

◆ parseXYPHI()

mrpt::math::TPose2D mvsim::parseXYPHI	(	const std::string &	s,
		bool	allow_missing_angle = `false`,
		double	default_angle_radians = `0.0`,
		const std::map< std::string, std::string > &	variableNamesValues = `{}`
	)

Parses a string like "XXX YYY PHI" with X,Y in meters, PHI in degrees, and returns a mrpt::math::TPose2D with [x,y,phi] with angle in radians. Raises an exception upon malformed string.

Definition at line 245 of file xml_utils.cpp.

◆ readXmlAndGetRoot()

std::tuple< XML_Doc_Data::Ptr, rapidxml::xml_node<> * > mvsim::readXmlAndGetRoot	(	const std::string &	pathToFile,
		const std::map< std::string, std::string > &	variables,
		const std::set< std::string > &	varsRetain = `{}`
	)

Definition at line 333 of file xml_utils.cpp.

◆ readXmlTextAndGetRoot()

std::tuple< std::shared_ptr< rapidxml::xml_document<> >, rapidxml::xml_node<> * > mvsim::readXmlTextAndGetRoot	(	const std::string &	xmlData,
		const std::string &	pathToFile
	)

Definition at line 303 of file xml_utils.cpp.

Variable Documentation

◆ classFactory_friction

TClassFactory_friction mvsim::classFactory_friction

Definition at line 19 of file FrictionBase.cpp.

◆ classFactory_sensors

TClassFactory_sensors mvsim::classFactory_sensors

Definition at line 36 of file SensorBase.cpp.

◆ classFactory_vehicleDynamics

TClassFactory_vehicleDynamics mvsim::classFactory_vehicleDynamics

Definition at line 40 of file VehicleBase.cpp.

◆ classFactory_worldElements

TClassFactory_worldElements mvsim::classFactory_worldElements

Definition at line 28 of file WorldElementBase.cpp.

◆ INVISIBLE_FIXTURE_USER_DATA

constexpr uintptr_t mvsim::INVISIBLE_FIXTURE_USER_DATA = 1

Used to signal a Box2D fixture as "invisible" to sensors.

Definition at line 64 of file basic_types.h.

Namespaces

Classes

Typedefs

Functions

Variables