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 ()
mrpt::poses::CPose2D	getCPose2D () const
	Alternative to getPose() More...
const std::string &	getName () const
mrpt::math::TPose3D	getPose () const
mrpt::math::TTwist2D	getTwist () const
const mrpt::math::TTwist2D &	getVelocity () const
mrpt::math::TTwist2D	getVelocityLocal () const
bool	hadCollision () const
bool	isInCollision () const
virtual void	poses_mutex_lock ()=0
virtual void	poses_mutex_unlock ()=0
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)

Protected Attributes
std::string	m_name

Detailed Description

Definition at line 24 of file Simulable.h.

Member Typedef Documentation

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

Definition at line 27 of file Simulable.h.

Member Function Documentation

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 78 of file Simulable.cpp.

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

inline

Definition at line 113 of file Simulable.h.

b2Body* mvsim::Simulable::b2d_body ( )

inline

Definition at line 114 of file Simulable.h.

mrpt::poses::CPose2D Simulable::getCPose2D

(

)

const

Alternative to getPose()

Definition at line 93 of file Simulable.cpp.

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

inline

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

Definition at line 95 of file Simulable.h.

mrpt::math::TPose3D mvsim::Simulable::getPose ( ) const

inline

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

Definition at line 55 of file Simulable.h.

mrpt::math::TTwist2D mvsim::Simulable::getTwist ( ) const

inline

Definition at line 63 of file Simulable.h.

const mrpt::math::TTwist2D& mvsim::Simulable::getVelocity ( ) const

inline

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

Definition at line 92 of file Simulable.h.

mrpt::math::TTwist2D Simulable::getVelocityLocal

(

)

const

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

Definition at line 84 of file Simulable.cpp.

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 106 of file Simulable.h.

bool mvsim::Simulable::isInCollision ( ) const

inline

Whether is is in collision right now.

See also

Definition at line 101 of file Simulable.h.

virtual void mvsim::Simulable::poses_mutex_lock ( )

pure virtual

Implemented in mvsim::Block, mvsim::VehicleBase, mvsim::OccupancyGridMap, mvsim::LaserScanner, mvsim::ElevationMap, and mvsim::GroundGrid.

virtual void mvsim::Simulable::poses_mutex_unlock ( )

pure virtual

Implemented in mvsim::Block, mvsim::VehicleBase, mvsim::OccupancyGridMap, mvsim::LaserScanner, mvsim::ElevationMap, and mvsim::GroundGrid.

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

virtual

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

Definition at line 150 of file Simulable.cpp.

void mvsim::Simulable::resetCollisionFlag ( )

inline

Resets the condition reported by hadCollision() to false

Definition at line 109 of file Simulable.h.

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

inline

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

Definition at line 98 of file Simulable.h.

void mvsim::Simulable::setPose ( const mrpt::math::TPose3D &  p ) const

inline

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

Definition at line 73 of file Simulable.h.

void mvsim::Simulable::setTwist ( const mrpt::math::TTwist2D &  dq ) const

inline

Definition at line 80 of file Simulable.h.

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 m_q, m_dq)

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

Definition at line 38 of file Simulable.cpp.

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::VehicleBase, mvsim::Block, mvsim::OccupancyGridMap, mvsim::LaserScanner, and mvsim::ElevationMap.

Definition at line 25 of file Simulable.cpp.

Member Data Documentation

std::string mvsim::Simulable::m_name

protected

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

Definition at line 118 of file Simulable.h.

---

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

• Simulable.h
• Simulable.cpp