#include <OccupancyGridMap.h>

Inheritance diagram for mvsim::OccupancyGridMap:

[legend]

Classes
struct	TFixturePtr

struct	TInfoPerCollidableobj

Public Member Functions
void	doLoadConfigFrom (const rapidxml::xml_node< char > *root)

mrpt::maps::COccupancyGridMap2D &	getOccGrid ()

const mrpt::maps::COccupancyGridMap2D &	getOccGrid () const

virtual void	loadConfigFrom (const rapidxml::xml_node< char > *root) override

	OccupancyGridMap (World parent, const rapidxml::xml_node< char > root)

virtual void	simul_pre_timestep (const TSimulContext &context) override

virtual	~OccupancyGridMap ()

Public Member Functions inherited from mvsim::WorldElementBase
	WorldElementBase (World *parent)

virtual	~WorldElementBase ()

Public Member Functions inherited from mvsim::VisualObject
const std::optional< Shape2p5 > &	collisionShape () const

bool	customVisualVisible () const

void	customVisualVisible (const bool visible)

virtual void	guiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical)

World *	parent ()

const World *	parent () const

void	showCollisionShape (bool show)

	VisualObject (World *parent, bool insertCustomVizIntoViz=true, bool insertCustomVizIntoPhysical=true)

virtual	~VisualObject ()

Public Member Functions inherited from mvsim::Simulable
virtual void	apply_force (const mrpt::math::TVector2D &force, const mrpt::math::TPoint2D &applyPoint=mrpt::math::TPoint2D(0, 0))

b2Body *	b2d_body ()

const b2Body *	b2d_body () const

virtual void	freeOpenGLResources ()

mrpt::poses::CPose2D	getCPose2D () const
	Alternative to getPose() More...

mrpt::poses::CPose3D	getCPose3D () const
	Alternative to getPose() More...

virtual std::optional< float >	getElevationAt ([[maybe_unused]] const mrpt::math::TPoint2D &worldXY) const

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...

virtual mrpt::math::TPose3D	getRelativePose () const

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, bool notifyChange=true) const

virtual void	setRelativePose (const mrpt::math::TPose3D &p)

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

virtual void	simul_post_timestep (const TSimulContext &context)

	Simulable (World *parent)

Protected Member Functions
virtual void	internalGuiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical, bool childrenOnly) override

Protected Member Functions inherited from mvsim::VisualObject
void	addCustomVisualization (const mrpt::opengl::CRenderizable::Ptr &glModel, const mrpt::poses::CPose3D &modelPose={}, const float modelScale=1.0f, const std::string &modelName="group", const std::optional< std::string > &modelURI=std::nullopt, const bool initialShowBoundingBox=false)

bool	parseVisual (const JointXMLnode<> &rootNode)

bool	parseVisual (const rapidxml::xml_node< char > &rootNode)
	Returns true if there is at least one `<visual>...</visual>` entry. More...

void	setCollisionShape (const Shape2p5 &cs)

Protected Attributes
mrpt::opengl::CSetOfObjects::Ptr	gl_grid_
	call of internalGuiUpdate() More...

std::vector< mrpt::opengl::CSetOfObjects::Ptr >	gl_obs_clouds_

std::vector< mrpt::opengl::CPointCloud::Ptr >	gl_obs_clouds_buffer_

std::mutex	gl_obs_clouds_buffer_cs_

mrpt::maps::COccupancyGridMap2D	grid_

bool	gui_uptodate_

double	lateral_friction_
	(Default: 0.5) More...

std::vector< TInfoPerCollidableobj >	obstacles_for_each_obj_

double	restitution_
	Elastic restitution coef (default: 0.01) More...

bool	show_grid_collision_points_

mrpt::obs::CSinCosLookUpTableFor2DScans	sincos_lut_

Protected Attributes inherited from mvsim::VisualObject
std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCollision_

std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCustomVisual_

int32_t	glCustomVisualId_ = -1

const bool	insertCustomVizIntoPhysical_ = true

const bool	insertCustomVizIntoViz_ = true

World *	world_

Protected Attributes inherited from mvsim::Simulable
std::string	name_

Additional Inherited Members
Public Types inherited from mvsim::WorldElementBase
using	Ptr = std::shared_ptr< WorldElementBase >

Public Types inherited from mvsim::Simulable
using	Ptr = std::shared_ptr< Simulable >

Static Public Member Functions inherited from mvsim::WorldElementBase
static Ptr	factory (World parent, const rapidxml::xml_node< char > xml_node, const char *class_name=nullptr)

Static Public Member Functions inherited from mvsim::VisualObject
static void	FreeOpenGLResources ()

Static Public Attributes inherited from mvsim::VisualObject
static double	GeometryEpsilon = 1e-3

Detailed Description

Simulates a 2D gridmap, including collisions with occupied voxels.

Definition at line 28 of file OccupancyGridMap.h.

Constructor & Destructor Documentation

◆ OccupancyGridMap()

OccupancyGridMap::OccupancyGridMap	(	World *	parent,
		const rapidxml::xml_node< char > *	root
	)

Definition at line 28 of file OccupancyGridMap.cpp.

◆ ~OccupancyGridMap()

OccupancyGridMap::~OccupancyGridMap ( )

virtual

Definition at line 38 of file OccupancyGridMap.cpp.

Member Function Documentation

◆ doLoadConfigFrom()

void OccupancyGridMap::doLoadConfigFrom ( const rapidxml::xml_node< char > * root )

Definition at line 40 of file OccupancyGridMap.cpp.

◆ getOccGrid() [1/2]

mrpt::maps::COccupancyGridMap2D& mvsim::OccupancyGridMap::getOccGrid ( )

inline

Definition at line 45 of file OccupancyGridMap.h.

◆ getOccGrid() [2/2]

const mrpt::maps::COccupancyGridMap2D& mvsim::OccupancyGridMap::getOccGrid ( ) const

inline

Definition at line 44 of file OccupancyGridMap.h.

◆ internalGuiUpdate()

void OccupancyGridMap::internalGuiUpdate	(	const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &	viz,
		const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &	physical,
		bool	childrenOnly
	)

overrideprotectedvirtual

Implements mvsim::VisualObject.

Definition at line 97 of file OccupancyGridMap.cpp.

◆ loadConfigFrom()

virtual void mvsim::OccupancyGridMap::loadConfigFrom ( const rapidxml::xml_node< char > * root )

inlineoverridevirtual

Implements mvsim::WorldElementBase.

Definition at line 37 of file OccupancyGridMap.h.

◆ simul_pre_timestep()

void OccupancyGridMap::simul_pre_timestep ( const TSimulContext & context )

overridevirtual

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

Reimplemented from mvsim::Simulable.

Definition at line 156 of file OccupancyGridMap.cpp.

Member Data Documentation

◆ gl_grid_

mrpt::opengl::CSetOfObjects::Ptr mvsim::OccupancyGridMap::gl_grid_

protected

call of internalGuiUpdate()

Definition at line 56 of file OccupancyGridMap.h.

◆ gl_obs_clouds_

std::vector<mrpt::opengl::CSetOfObjects::Ptr> mvsim::OccupancyGridMap::gl_obs_clouds_

protected

Definition at line 76 of file OccupancyGridMap.h.

◆ gl_obs_clouds_buffer_

std::vector<mrpt::opengl::CPointCloud::Ptr> mvsim::OccupancyGridMap::gl_obs_clouds_buffer_

protected

Definition at line 79 of file OccupancyGridMap.h.

◆ gl_obs_clouds_buffer_cs_

std::mutex mvsim::OccupancyGridMap::gl_obs_clouds_buffer_cs_

protected

Definition at line 78 of file OccupancyGridMap.h.

◆ grid_

mrpt::maps::COccupancyGridMap2D mvsim::OccupancyGridMap::grid_

protected

Definition at line 52 of file OccupancyGridMap.h.

◆ gui_uptodate_

bool mvsim::OccupancyGridMap::gui_uptodate_

protected

Whether gl_grid_ has to be updated upon next

Definition at line 54 of file OccupancyGridMap.h.

◆ lateral_friction_

double mvsim::OccupancyGridMap::lateral_friction_

protected

(Default: 0.5)

Definition at line 85 of file OccupancyGridMap.h.

◆ obstacles_for_each_obj_

std::vector<TInfoPerCollidableobj> mvsim::OccupancyGridMap::obstacles_for_each_obj_

protected

Definition at line 75 of file OccupancyGridMap.h.

◆ restitution_

double mvsim::OccupancyGridMap::restitution_

protected

Elastic restitution coef (default: 0.01)

Definition at line 84 of file OccupancyGridMap.h.

◆ show_grid_collision_points_

bool mvsim::OccupancyGridMap::show_grid_collision_points_

protected

Definition at line 83 of file OccupancyGridMap.h.

◆ sincos_lut_

mrpt::obs::CSinCosLookUpTableFor2DScans mvsim::OccupancyGridMap::sincos_lut_

protected

Definition at line 81 of file OccupancyGridMap.h.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OccupancyGridMap()

◆ ~OccupancyGridMap()

Member Function Documentation

◆ doLoadConfigFrom()

◆ getOccGrid() [1/2]

◆ getOccGrid() [2/2]

◆ internalGuiUpdate()

◆ loadConfigFrom()

◆ simul_pre_timestep()

Member Data Documentation

◆ gl_grid_

◆ gl_obs_clouds_

◆ gl_obs_clouds_buffer_

◆ gl_obs_clouds_buffer_cs_

◆ grid_

◆ gui_uptodate_

◆ lateral_friction_

◆ obstacles_for_each_obj_

◆ restitution_

◆ show_grid_collision_points_

◆ sincos_lut_