#include <WorldElementBase.h>

Inheritance diagram for mvsim::WorldElementBase:

[legend]

Public Types
using	Ptr = std::shared_ptr< WorldElementBase >

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

Public Member Functions
virtual void	loadConfigFrom (const rapidxml::xml_node< char > *root)=0

	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)

virtual void	simul_pre_timestep (const TSimulContext &context)

	Simulable (World *parent)

Static Public Member Functions
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 ()

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

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)

virtual void	internalGuiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical, bool childrenOnly=false)=0

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 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_

Detailed Description

Virtual base class for all world simulated "entities" (not vehicles, not blocks)

Definition at line 27 of file WorldElementBase.h.

Member Typedef Documentation

◆ Ptr

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

Definition at line 30 of file WorldElementBase.h.

Constructor & Destructor Documentation

◆ WorldElementBase()

mvsim::WorldElementBase::WorldElementBase ( World * parent )

inline

Definition at line 32 of file WorldElementBase.h.

◆ ~WorldElementBase()

virtual mvsim::WorldElementBase::~WorldElementBase ( )

inlinevirtual

Definition at line 33 of file WorldElementBase.h.

Member Function Documentation

◆ factory()

WorldElementBase::Ptr WorldElementBase::factory	(	World *	parent,
		const rapidxml::xml_node< char > *	xml_node,
		const char *	class_name = `nullptr`
	)

static

Class factory: Creates a world element from XML description of type "<element class='*'>...</element>". Only if xml_node==nullptr, the world element name can be passed in class_name. Otherwise, class_name is ignored.

Definition at line 49 of file WorldElementBase.cpp.

◆ loadConfigFrom()

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

pure virtual

Implemented in mvsim::OccupancyGridMap, mvsim::ElevationMap, mvsim::PointCloud, mvsim::VerticalPlane, mvsim::HorizontalPlane, mvsim::SkyBox, and mvsim::GroundGrid.

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

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members