#include <AISTSimulatorItem.h>

Inheritance diagram for cnoid::AISTSimulatorItem:

Public Types
enum	DynamicsMode { FORWARD_DYNAMICS = 0, HG_DYNAMICS, KINEMATICS, N_DYNAMICS_MODES }

enum	IntegrationMode { EULER_INTEGRATION = 0, RUNGE_KUTTA_INTEGRATION, N_INTEGRATION_MODES }

typedef boost::function< bool(Link link1, Link link2, const CollisionArray &collisions, const ContactAttribute &attribute)>	CollisionHandler

Public Types inherited from cnoid::SimulatorItem
enum	RecordingMode { REC_FULL, REC_TAIL, REC_NONE, N_RECORDING_MODES }

enum	TimeRangeMode { TR_UNLIMITED, TR_ACTIVE_CONTROL, TR_SPECIFIED, TR_TIMEBAR, N_TIME_RANGE_MODES }

Public Types inherited from cnoid::Item
enum	Attribute { SUB_ITEM, TEMPORAL, LOAD_ONLY, NUM_ATTRIBUTES }

Public Member Functions
	AISTSimulatorItem ()

	AISTSimulatorItem (const AISTSimulatorItem &org)

virtual	~AISTSimulatorItem ()

virtual bool	startSimulation (bool doReset=true)

void	setDynamicsMode (int mode)

void	setIntegrationMode (int mode)

void	setGravity (const Vector3 &gravity)

const Vector3 &	gravity () const

void	setFriction (double staticFriction, double slipFriction)

void	setContactCullingDistance (double value)

void	setContactCullingDepth (double value)

void	setErrorCriterion (double value)

void	setMaxNumIterations (int value)

void	setContactCorrectionDepth (double value)

void	setContactCorrectionVelocityRatio (double value)

void	setEpsilon (double epsilon)

void	set2Dmode (bool on)

void	setKinematicWalkingEnabled (bool on)

void	setConstraintForceOutputEnabled (bool on)

virtual void	setForcedPosition (BodyItem *bodyItem, const Position &T)

virtual bool	isForcedPositionActiveFor (BodyItem *bodyItem) const

virtual void	clearForcedPositions ()

void	setFriction (Link link1, Link link2, double staticFriction, double slipFriction)

int	registerCollisionHandler (const std::string &name, CollisionHandler handler)

void	unregisterCollisionHandler (int handlerId)

int	collisionHandlerId (const std::string &name) const

void	setCollisionHandler (Link link1, Link link2, int handlerId)

Public Member Functions inherited from cnoid::SimulatorItem
	SimulatorItem ()

virtual	~SimulatorItem ()

virtual double	worldTimeStep ()

virtual void	stopSimulation ()

virtual void	pauseSimulation ()

virtual void	restartSimulation ()

bool	isRunning () const

bool	isPausing () const

bool	isActive () const
	isRunning() && !isPausing() More...

int	currentFrame () const
	This can only be called from the simulation thread. More...

double	currentTime () const
	This can only be called from the simulation thread. More...

int	simulationFrame () const
	This can be called from non simulation threads. More...

double	simulationTime () const
	This can be called from non simulation threads. More...

SignalProxy< void()>	sigSimulationStarted ()

SignalProxy< void()>	sigSimulationFinished ()

void	setRecordingMode (int selection)

Selection	recordingMode () const

void	setTimeRangeMode (int selection)

void	setRealtimeSyncMode (bool on)

void	setDeviceStateOutputEnabled (bool on)

bool	isRecordingEnabled () const

bool	isDeviceStateOutputEnabled () const

bool	isAllLinkPositionOutputMode ()

virtual void	setAllLinkPositionOutputMode (bool on)

const std::vector< SimulationBody * > &	simulationBodies ()

SimulationBody *	findSimulationBody (BodyItem *bodyItem)

SimulationBody *	findSimulationBody (const std::string &name)

int	addPreDynamicsFunction (boost::function< void()> func)

int	addMidDynamicsFunction (boost::function< void()> func)

int	addPostDynamicsFunction (boost::function< void()> func)

void	removePreDynamicsFunction (int id)

void	removeMidDynamicsFunction (int id)

void	removePostDynamicsFunction (int id)

SgCloneMap &	sgCloneMap ()

SignalProxy< void(const std::vector< SimulationBodyPtr > &simulationBodies)>	sigSimulationBodyListUpdated ()

virtual void	setExternalForce (BodyItem bodyItem, Link link, const Vector3 &point, const Vector3 &f, double time=0.0)

virtual void	clearExternalForces ()

virtual void	setVirtualElasticString (BodyItem bodyItem, Link link, const Vector3 &attachmentPoint, const Vector3 &endPoint)

virtual void	clearVirtualElasticStrings ()

Public Member Functions inherited from cnoid::Item
virtual	~Item ()

const std::string &	name () const

virtual void	setName (const std::string &name)

bool	hasAttribute (Attribute attribute) const

Item *	childItem () const

Item *	prevItem () const

Item *	nextItem () const

Item *	parentItem () const

bool	addChildItem (Item *item, bool isManualOperation=false)

bool	addSubItem (Item *item)

bool	isSubItem () const

void	detachFromParentItem ()

void	emitSigDetachedFromRootForSubTree ()

bool	insertChildItem (Item item, Item nextItem, bool isManualOperation=false)

bool	insertSubItem (Item item, Item nextItem)

bool	isTemporal () const

void	setTemporal (bool on=true)

RootItem *	findRootItem () const

Item *	findItem (const std::string &path) const

template<class ItemType >
ItemType *	findItem (const std::string &path) const

template<class ItemType >
ItemType *	find (const std::string &path)

Item *	findChildItem (const std::string &path) const

template<class ItemType >
ItemType *	findChildItem (const std::string &path) const

Item *	findSubItem (const std::string &path) const

template<class ItemType >
ItemType *	findSubItem (const std::string &path) const

Item *	headItem () const

template<class ItemType >
ItemType *	findOwnerItem (bool includeSelf=false)

bool	isOwnedBy (Item *item) const

bool	traverse (boost::function< bool(Item *)> function)

template<class ItemType >
bool	traverse (boost::function< bool(ItemType *item)> function)

Item *	duplicate () const

Item *	duplicateAll () const

void	assign (Item *srcItem)

bool	load (const std::string &filename, const std::string &format=std::string())

bool	load (const std::string &filename, Item *parent, const std::string &format=std::string())

bool	save (const std::string &filename, const std::string &format=std::string())

bool	overwrite (bool forceOverwrite=false, const std::string &format=std::string())

const std::string &	filePath () const

const std::string &	fileFormat () const

std::time_t	fileModificationTime () const

bool	isConsistentWithFile () const

void	clearFileInformation ()

void	suggestFileUpdate ()

void	putProperties (PutPropertyFunction &putProperty)

virtual void	notifyUpdate ()

SignalProxy< void(const std::string &oldName)>	sigNameChanged ()

SignalProxy< void()>	sigUpdated ()

SignalProxy< void()>	sigPositionChanged ()

SignalProxy< void()>	sigDetachedFromRoot ()

SignalProxy< void()>	sigDisconnectedFromRoot ()

SignalProxy< void()>	sigSubTreeChanged ()

Referenced *	customData (int id)

const Referenced *	customData (int id) const

void	setCustomData (int id, ReferencedPtr data)

void	clearCustomData (int id)

Public Member Functions inherited from cnoid::Referenced
virtual	~Referenced ()

void	addRef ()

void	releaseRef ()

Static Public Member Functions
static void	initializeClass (ExtensionManager *ext)

Static Public Member Functions inherited from cnoid::SimulatorItem
static void	initializeClass (ExtensionManager *ext)

static SimulatorItem *	findActiveSimulatorItemFor (Item *item)

Static Public Member Functions inherited from cnoid::Item
static Item *	find (const std::string &path)

static SignalProxy< void(const char *type_info_name)>	sigClassUnregistered ()

Protected Member Functions
virtual SimulationBody *	createSimulationBody (Body *orgBody)

virtual bool	initializeSimulation (const std::vector< SimulationBody *> &simBodies)

virtual bool	stepSimulation (const std::vector< SimulationBody *> &activeSimBodies)

virtual void	finalizeSimulation ()

virtual CollisionLinkPairListPtr	getCollisions ()

virtual Item *	doDuplicate () const

virtual void	doPutProperties (PutPropertyFunction &putProperty)

virtual bool	store (Archive &archive)

virtual bool	restore (const Archive &archive)

Protected Member Functions inherited from cnoid::SimulatorItem
	SimulatorItem (const SimulatorItem &org)

virtual void	onDisconnectedFromRoot ()

CollisionDetectorPtr	collisionDetector ()

virtual void	initializeSimulationThread ()

virtual void	finalizeSimulationThread ()

void	doPutProperties (PutPropertyFunction &putProperty)

bool	store (Archive &archive)

bool	restore (const Archive &archive)

Protected Member Functions inherited from cnoid::Item
	Item ()

	Item (const Item &item)

virtual void	onConnectedToRoot ()

virtual void	onPositionChanged ()

virtual bool	onChildItemAboutToBeAdded (Item *childItem, bool isManualOperation)

virtual void	doAssign (Item *srcItem)

void	setAttribute (Attribute attribute)

void	unsetAttribute (Attribute attribute)

Protected Member Functions inherited from cnoid::Referenced
	Referenced ()

	Referenced (const Referenced &org)

int	refCount () const

Friends
class	AISTSimulatorItemImpl

Member Typedef Documentation

◆ CollisionHandler

typedef boost::function<bool(Link* link1, Link* link2, const CollisionArray& collisions, const ContactAttribute& attribute)> cnoid::AISTSimulatorItem::CollisionHandler

Member Enumeration Documentation

◆ DynamicsMode

enum cnoid::AISTSimulatorItem::DynamicsMode

Enumerator
FORWARD_DYNAMICS
HG_DYNAMICS
KINEMATICS
N_DYNAMICS_MODES

◆ IntegrationMode

enum cnoid::AISTSimulatorItem::IntegrationMode

Enumerator
EULER_INTEGRATION
RUNGE_KUTTA_INTEGRATION
N_INTEGRATION_MODES

Constructor & Destructor Documentation

◆ AISTSimulatorItem() [1/2]

AISTSimulatorItem::AISTSimulatorItem ( )

◆ AISTSimulatorItem() [2/2]

AISTSimulatorItem::AISTSimulatorItem ( const AISTSimulatorItem & org )

◆ ~AISTSimulatorItem()

AISTSimulatorItem::~AISTSimulatorItem ( )

virtual

Member Function Documentation

◆ clearForcedPositions()

void AISTSimulatorItem::clearForcedPositions ( )

virtual

Reimplemented from cnoid::SimulatorItem.

◆ collisionHandlerId()

int AISTSimulatorItem::collisionHandlerId ( const std::string & name ) const

◆ createSimulationBody()

SimulationBody * AISTSimulatorItem::createSimulationBody ( Body * orgBody )

protectedvirtual

Note: orgBody should not owned by the SimulationBody instance. Instead of it, a clone instance which may be a sub Body class should be created and owned.

Implements cnoid::SimulatorItem.

◆ doDuplicate()

Item * AISTSimulatorItem::doDuplicate ( ) const

protectedvirtual

Override this function to allow duplication of an instance.

Reimplemented from cnoid::Item.

◆ doPutProperties()

void AISTSimulatorItem::doPutProperties ( PutPropertyFunction & putProperty )

protectedvirtual

Override this function to put properties of the item.

Note: Please call doPutProperties() of the parent class in this function. For example, when your class directly inherits the Item class, call Item::doPutProperties(putProperty).

Reimplemented from cnoid::Item.

◆ finalizeSimulation()

void AISTSimulatorItem::finalizeSimulation ( )

protectedvirtual

Note: This function is called from the main thread.

Reimplemented from cnoid::SimulatorItem.

◆ getCollisions()

CollisionLinkPairListPtr AISTSimulatorItem::getCollisions ( )

protectedvirtual

Reimplemented from cnoid::SimulatorItem.

◆ gravity()

const Vector3 & AISTSimulatorItem::gravity ( ) const

◆ initializeClass()

void AISTSimulatorItem::initializeClass ( ExtensionManager * ext )

static

◆ initializeSimulation()

bool AISTSimulatorItem::initializeSimulation ( const std::vector< SimulationBody *> & simBodies )

protectedvirtual

Parameters

simBodies SimulatorBody objects which have a valid body

Note: This function is called from the main thread.

Implements cnoid::SimulatorItem.

◆ isForcedPositionActiveFor()

bool AISTSimulatorItem::isForcedPositionActiveFor ( BodyItem * bodyItem ) const

virtual

Reimplemented from cnoid::SimulatorItem.

◆ registerCollisionHandler()

int AISTSimulatorItem::registerCollisionHandler	(	const std::string &	name,
		CollisionHandler	handler
	)

◆ restore()

bool AISTSimulatorItem::restore ( const Archive & archive )

protectedvirtual

Reimplemented from cnoid::Item.

◆ set2Dmode()

void AISTSimulatorItem::set2Dmode ( bool on )

◆ setCollisionHandler()

void AISTSimulatorItem::setCollisionHandler	(	Link *	link1,
		Link *	link2,
		int	handlerId
	)

◆ setConstraintForceOutputEnabled()

void AISTSimulatorItem::setConstraintForceOutputEnabled ( bool on )

◆ setContactCorrectionDepth()

void AISTSimulatorItem::setContactCorrectionDepth ( double value )

◆ setContactCorrectionVelocityRatio()

void AISTSimulatorItem::setContactCorrectionVelocityRatio ( double value )

◆ setContactCullingDepth()

void AISTSimulatorItem::setContactCullingDepth ( double value )

◆ setContactCullingDistance()

void AISTSimulatorItem::setContactCullingDistance ( double value )

◆ setDynamicsMode()

void AISTSimulatorItem::setDynamicsMode ( int mode )

◆ setEpsilon()

void AISTSimulatorItem::setEpsilon ( double epsilon )

◆ setErrorCriterion()

void AISTSimulatorItem::setErrorCriterion ( double value )

◆ setForcedPosition()

void AISTSimulatorItem::setForcedPosition	(	BodyItem *	bodyItem,
		const Position &	T
	)

virtual

Reimplemented from cnoid::SimulatorItem.

◆ setFriction() [1/2]

void AISTSimulatorItem::setFriction	(	double	staticFriction,
		double	slipFriction
	)

◆ setFriction() [2/2]

void AISTSimulatorItem::setFriction	(	Link *	link1,
		Link *	link2,
		double	staticFriction,
		double	slipFriction
	)

◆ setGravity()

void AISTSimulatorItem::setGravity ( const Vector3 & gravity )

◆ setIntegrationMode()

void AISTSimulatorItem::setIntegrationMode ( int mode )

◆ setKinematicWalkingEnabled()

void AISTSimulatorItem::setKinematicWalkingEnabled ( bool on )

◆ setMaxNumIterations()

void AISTSimulatorItem::setMaxNumIterations ( int value )

◆ startSimulation()

bool AISTSimulatorItem::startSimulation ( bool doReset = true )

virtual

Reimplemented from cnoid::SimulatorItem.

◆ stepSimulation()

bool AISTSimulatorItem::stepSimulation ( const std::vector< SimulationBody *> & activeSimBodies )

protectedvirtual

This function is called from the simulation loop thread.

Parameters

activeSimBodies SimulatorBody objects which are non-static ones.

Implements cnoid::SimulatorItem.

◆ store()

bool AISTSimulatorItem::store ( Archive & archive )

protectedvirtual

Reimplemented from cnoid::Item.

◆ unregisterCollisionHandler()

void AISTSimulatorItem::unregisterCollisionHandler ( int handlerId )

Friends And Related Function Documentation

◆ AISTSimulatorItemImpl

friend class AISTSimulatorItemImpl

friend

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Friends

Member Typedef Documentation

◆ CollisionHandler

Member Enumeration Documentation

◆ DynamicsMode

◆ IntegrationMode

Constructor & Destructor Documentation

◆ AISTSimulatorItem() [1/2]

◆ AISTSimulatorItem() [2/2]

◆ ~AISTSimulatorItem()

Member Function Documentation

◆ clearForcedPositions()

◆ collisionHandlerId()

◆ createSimulationBody()

◆ doDuplicate()

◆ doPutProperties()

◆ finalizeSimulation()

◆ getCollisions()

◆ gravity()

◆ initializeClass()

◆ initializeSimulation()

◆ isForcedPositionActiveFor()

◆ registerCollisionHandler()

◆ restore()

◆ set2Dmode()

◆ setCollisionHandler()

◆ setConstraintForceOutputEnabled()

◆ setContactCorrectionDepth()

◆ setContactCorrectionVelocityRatio()

◆ setContactCullingDepth()

◆ setContactCullingDistance()

◆ setDynamicsMode()

◆ setEpsilon()

◆ setErrorCriterion()

◆ setForcedPosition()

◆ setFriction() [1/2]

◆ setFriction() [2/2]

◆ setGravity()

◆ setIntegrationMode()

◆ setKinematicWalkingEnabled()

◆ setMaxNumIterations()

◆ startSimulation()

◆ stepSimulation()

◆ store()

◆ unregisterCollisionHandler()

Friends And Related Function Documentation

◆ AISTSimulatorItemImpl