cnoid::SimulatorItem Class Reference

#include <SimulatorItem.h>

Inheritance diagram for cnoid::SimulatorItem:

Public Types
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
	SimulatorItem ()
virtual	~SimulatorItem ()
virtual double	worldTimeStep ()
virtual bool	startSimulation (bool doReset=true)
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 ()
virtual void	setForcedPosition (BodyItem *bodyItem, const Position &T)
virtual bool	isForcedPositionActiveFor (BodyItem *bodyItem) const
virtual void	clearForcedPositions ()
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 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
	SimulatorItem (const SimulatorItem &org)
virtual void	onDisconnectedFromRoot ()
virtual SimulationBody *	createSimulationBody (Body *orgBody)=0
CollisionDetectorPtr	collisionDetector ()
virtual bool	initializeSimulation (const std::vector< SimulationBody *> &simBodies)=0
virtual void	initializeSimulationThread ()
virtual void	finalizeSimulationThread ()
virtual bool	stepSimulation (const std::vector< SimulationBody *> &activeSimBodies)=0
virtual void	finalizeSimulation ()
virtual CollisionLinkPairListPtr	getCollisions ()
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 Item *	doDuplicate () const
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	SimulatorItemImpl
class	SimulatedMotionEngineManager

Member Enumeration Documentation

RecordingMode

enum cnoid::SimulatorItem::RecordingMode

Enumerator
REC_FULL
REC_TAIL
REC_NONE
N_RECORDING_MODES

TimeRangeMode

enum cnoid::SimulatorItem::TimeRangeMode

Enumerator
TR_UNLIMITED
TR_ACTIVE_CONTROL
TR_SPECIFIED
TR_TIMEBAR
N_TIME_RANGE_MODES

Constructor & Destructor Documentation

SimulatorItem() [1/2]

SimulatorItem::SimulatorItem

(

)

~SimulatorItem()

SimulatorItem::~SimulatorItem ( )

virtual

SimulatorItem() [2/2]

SimulatorItem::SimulatorItem ( const SimulatorItem &  org )

protected

Member Function Documentation

addMidDynamicsFunction()

int SimulatorItem::addMidDynamicsFunction

(

boost::function< void()>

func

)

addPostDynamicsFunction()

int SimulatorItem::addPostDynamicsFunction

(

boost::function< void()>

func

)

addPreDynamicsFunction()

int SimulatorItem::addPreDynamicsFunction

(

boost::function< void()>

func

)

Returns

The registration id of the function. The id can be used for removing the function.

clearExternalForces()

void SimulatorItem::clearExternalForces ( )

virtual

clearForcedPositions()

void SimulatorItem::clearForcedPositions ( )

virtual

Reimplemented in cnoid::AISTSimulatorItem.

clearVirtualElasticStrings()

void SimulatorItem::clearVirtualElasticStrings ( )

virtual

collisionDetector()

CollisionDetectorPtr SimulatorItem::collisionDetector ( )

protected

createSimulationBody()

virtual SimulationBody* cnoid::SimulatorItem::createSimulationBody ( Body *  orgBody )

protectedpure virtual

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.

Implemented in cnoid::AISTSimulatorItem, cnoid::ODESimulatorItem, and cnoid::BulletSimulatorItem.

currentFrame()

int SimulatorItem::currentFrame

(

)

const

This can only be called from the simulation thread.

currentTime()

double SimulatorItem::currentTime

(

void

)

const

This can only be called from the simulation thread.

doPutProperties()

void SimulatorItem::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.

Reimplemented in cnoid::ODESimulatorItem, and cnoid::BulletSimulatorItem.

finalizeSimulation()

void SimulatorItem::finalizeSimulation ( )

protectedvirtual

Note

This function is called from the main thread.

Reimplemented in cnoid::AISTSimulatorItem, and cnoid::ODESimulatorItem.

finalizeSimulationThread()

void SimulatorItem::finalizeSimulationThread ( )

protectedvirtual

findActiveSimulatorItemFor()

SimulatorItem * SimulatorItem::findActiveSimulatorItemFor ( Item *  item )

static

findSimulationBody() [1/2]

SimulationBody * SimulatorItem::findSimulationBody

(

BodyItem *

bodyItem

)

Todo:

make thread safe

findSimulationBody() [2/2]

SimulationBody * SimulatorItem::findSimulationBody

(

const std::string &

name

)

Todo:

make thread safe

getCollisions()

virtual CollisionLinkPairListPtr cnoid::SimulatorItem::getCollisions ( )

inlineprotectedvirtual

Reimplemented in cnoid::AISTSimulatorItem.

initializeClass()

void SimulatorItem::initializeClass ( ExtensionManager *  ext )

static

initializeSimulation()

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

protectedpure virtual

Parameters

simBodies

SimulatorBody objects which have a valid body

Note

This function is called from the main thread.

Implemented in cnoid::AISTSimulatorItem, cnoid::ODESimulatorItem, and cnoid::BulletSimulatorItem.

initializeSimulationThread()

void SimulatorItem::initializeSimulationThread ( )

protectedvirtual

Reimplemented in cnoid::ODESimulatorItem, and cnoid::BulletSimulatorItem.

isActive()

bool SimulatorItem::isActive

(

)

const

isRunning() && !isPausing()

isAllLinkPositionOutputMode()

bool SimulatorItem::isAllLinkPositionOutputMode

(

)

isDeviceStateOutputEnabled()

bool SimulatorItem::isDeviceStateOutputEnabled

(

)

const

isForcedPositionActiveFor()

bool SimulatorItem::isForcedPositionActiveFor ( BodyItem *  bodyItem ) const

virtual

Reimplemented in cnoid::AISTSimulatorItem.

isPausing()

bool SimulatorItem::isPausing

(

)

const

isRecordingEnabled()

bool SimulatorItem::isRecordingEnabled

(

)

const

isRunning()

bool SimulatorItem::isRunning

(

)

const

onDisconnectedFromRoot()

void SimulatorItem::onDisconnectedFromRoot ( )

protectedvirtual

Reimplemented from cnoid::Item.

pauseSimulation()

void SimulatorItem::pauseSimulation ( )

virtual

recordingMode()

Selection SimulatorItem::recordingMode

(

)

const

removeMidDynamicsFunction()

void SimulatorItem::removeMidDynamicsFunction

(

int

id

)

removePostDynamicsFunction()

void SimulatorItem::removePostDynamicsFunction

(

int

id

)

removePreDynamicsFunction()

void SimulatorItem::removePreDynamicsFunction

(

int

id

)

restartSimulation()

void SimulatorItem::restartSimulation ( )

virtual

restore()

bool SimulatorItem::restore ( const Archive &  archive )

protectedvirtual

Reimplemented from cnoid::Item.

Reimplemented in cnoid::ODESimulatorItem, and cnoid::BulletSimulatorItem.

setAllLinkPositionOutputMode()

void SimulatorItem::setAllLinkPositionOutputMode ( bool  on )

virtual

Reimplemented in cnoid::ODESimulatorItem, and cnoid::BulletSimulatorItem.

setDeviceStateOutputEnabled()

void SimulatorItem::setDeviceStateOutputEnabled

(

bool

on

)

setExternalForce()

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

virtual

Parameters

point	link local position to apply the force
f	linear force to apply in global coordinate

setForcedPosition()

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

virtual

Reimplemented in cnoid::AISTSimulatorItem.

setRealtimeSyncMode()

void SimulatorItem::setRealtimeSyncMode

(

bool

on

)

setRecordingMode()

void SimulatorItem::setRecordingMode

(

int

selection

)

setTimeRangeMode()

void SimulatorItem::setTimeRangeMode

(

int

selection

)

setVirtualElasticString()

void SimulatorItem::setVirtualElasticString ( BodyItem *  bodyItem, Link *  link, const Vector3 &  attachmentPoint, const Vector3 &  endPoint  )

virtual

Parameters

attachmentPoint	link local position
goal	global goal position

sgCloneMap()

SgCloneMap & SimulatorItem::sgCloneMap

(

)

sigSimulationBodyListUpdated()

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

(

)

Note

This signal is emitted in the simulation thread

sigSimulationFinished()

SignalProxy< void()> SimulatorItem::sigSimulationFinished

(

)

sigSimulationStarted()

SignalProxy< void()> SimulatorItem::sigSimulationStarted

(

)

simulationBodies()

const std::vector< SimulationBody * > & SimulatorItem::simulationBodies

(

)

For sub simulators

simulationFrame()

int SimulatorItem::simulationFrame

(

)

const

This can be called from non simulation threads.

simulationTime()

double SimulatorItem::simulationTime

(

)

const

This can be called from non simulation threads.

startSimulation()

bool SimulatorItem::startSimulation ( bool  doReset = true )

virtual

Reimplemented in cnoid::AISTSimulatorItem.

stepSimulation()

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

protectedpure virtual

This function is called from the simulation loop thread.

Parameters

activeSimBodies

SimulatorBody objects which are non-static ones.

Implemented in cnoid::AISTSimulatorItem, cnoid::ODESimulatorItem, and cnoid::BulletSimulatorItem.

stopSimulation()

void SimulatorItem::stopSimulation ( )

virtual

store()

bool SimulatorItem::store ( Archive &  archive )

protectedvirtual

Reimplemented from cnoid::Item.

Reimplemented in cnoid::ODESimulatorItem, and cnoid::BulletSimulatorItem.

worldTimeStep()

double SimulatorItem::worldTimeStep ( )

virtual

Friends And Related Function Documentation

SimulatedMotionEngineManager

friend class SimulatedMotionEngineManager

friend

SimulatorItemImpl

friend class SimulatorItemImpl

friend

---

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

• SimulatorItem.h
• SimulatorItem.cpp