#include <simulation.h>

Inheritance diagram for Simulation:

Collaboration diagram for Simulation:

Public Types
enum	SimulationState { none, initialised, running, closed }

enum	CameraMode { Static =0, Follow, TV, Race }

Public Types inherited from Configurable
typedef std::string	paramkey

typedef std::string	paramdescr

typedef double	paramval

typedef std::list< std::pair < paramkey, paramval > >	paramlist

typedef std::map< paramkey, paramval * >	parammap

typedef bool	parambool

typedef std::list< std::pair < paramkey, parambool > >	paramboollist

typedef std::map< paramkey, parambool * >	paramboolmap

typedef int	paramint

typedef std::list< std::pair < paramkey, paramint > >	paramintlist

typedef std::map< paramkey, paramint * >	paramintmap

typedef std::map< paramkey, paramdescr >	paramdescrmap

typedef std::pair< paramval, paramval >	paramvalBounds

typedef std::map< paramkey, paramvalBounds >	paramvalBoundsMap

typedef std::pair< paramint, paramint >	paramintBounds

typedef std::map< paramkey, paramintBounds >	paramintBoundsMap

typedef std::pair< paramkey, paramval * >	paramvalpair

typedef std::pair< paramkey, parambool * >	paramboolpair

typedef std::pair< paramkey, paramint * >	paramintpair

typedef std::vector < Configurable * >	configurableList

Public Types inherited from BackCaller
typedef unsigned long	CallbackableType

Public Member Functions
	Simulation ()

virtual	~Simulation ()

bool	run (int argc, char **argv)
	starts the Simulation. More...

virtual void	start (const OdeHandle &, const OsgHandle &, GlobalData &globalData)=0
	start() is called at the first start of the cycles and should create all the object (obstacles, agents...). More...

virtual bool	restart (const OdeHandle &, const OsgHandle &, GlobalData &globalData)
	restart() is called at the second and all following starts of the cylce The end of a cycle is determined by (simulation_time_reached==true) More...

virtual void	end (GlobalData &globalData)
	end() is called at the end and should tidy up More...

virtual bool	config (GlobalData &globalData)
	config() is called when the user presses Ctrl-C More...

virtual bool	command (const OdeHandle &, const OsgHandle &, GlobalData &globalData, int key, bool down)
	is called if a key was pressed. More...

virtual void	bindingDescription (osg::ApplicationUsage &au) const
	this can be used to describe the key bindings used by command() More...

virtual void	usage () const
	this can be used to print additional usage information (cmd-line options) More...

virtual bool	collCallback (const OdeHandle &, void *data, dGeomID o1, dGeomID o2)
	collCallback() can be used to overload the standart collision handling. More...

virtual void	addCallback (GlobalData &globalData, bool draw, bool pause, bool control)
	optional additional callback function which is called every simulation step. More...

virtual void	addPaletteFile (const std::string &filename, bool verbose=false)
	adds a palette file to be loaded at initialization time Call this before run()! More...

virtual void	addColorAliasFile (const std::string &filename, bool verbose=false)
	adds a color alias file to be loaded at initialization time Call this before run()! More...

virtual void	odeStep ()

virtual void	osgStep ()

virtual void	doOnCallBack (BackCaller *src, BackCaller::CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE) override
	This method is invoked when a callback is done from the class where this class is for callback registered. More...

Public Member Functions inherited from Base
	Base (const std::string &caption="LpzRobots Simulator (Martius et al)")

virtual void	makePhysicsScene ()
	create the ground plane More...

virtual void	makeScene (OsgScene *scene, const OsgConfig &config)
	creates the base scene graph with world, sky and floor and shadow and HUD and stores it in scene More...

virtual osg::Node *	makeSky (const OsgConfig &config)

virtual osg::Node *	makeGround (const OsgConfig &config)

virtual osg::Node *	createHUD (OsgScene *scene, const OsgConfig &config)
	creates hud and is supposed to return the camera to it and adds the geode of the hud to the scene More...

virtual void	createHUDManager (osg::Geode geode, osgText::Font font)

virtual void	makeLights (osg::Group *node, const OsgConfig &config)
	adds light to the node More...

virtual osgShadow::ShadowedScene *	createShadowedScene (osg::Node sceneToShadow, osg::LightSource lightSource, int shadowType)
	Shadow types: 1 - ShadowVolume 2 - ShadowTextue 3 - ParallelSplitShadowMap 4 - SoftShadowMap 5 - ShadowMap. More...

virtual void	setGroundTexture (const char *filename)

virtual Substance	getGroundSubstance ()

virtual void	setGroundSubstance (const Substance &substance)

virtual void	setCaption (const std::string &caption)
	sets the cpation that is printed at the right of the status line More...

virtual void	setTitle (const std::string &title)
	sets the title that is printed in the center of the status line More...

virtual StatLineProperties	getStatLineProperties ()

virtual void	setStatLineProperties (const StatLineProperties &statlineprop)
	sets the properties of the status line, do it before the scene is initialized More...

virtual HUDStatisticsManager *	getHUDSM ()
	Create HUDStatisticsManager and register it for being called back every step. More...

virtual	~Base ()

Public Member Functions inherited from Configurable
	Configurable ()

	Configurable (const std::string &name, const std::string &revision)
	intialise with name and revision (use "$ID$") More...

virtual	~Configurable ()

virtual void	notifyOnChange (const paramkey &key)
	Is called when a parameter was changes via setParam(). More...

virtual void	addParameter (const paramkey &key, paramval *val, paramval minBound, paramval maxBound, const paramdescr &descr=paramdescr())
	This is the new style for adding configurable parameters. More...

virtual void	addParameter (const paramkey &key, paramval *val, const paramdescr &descr=paramdescr())
	See addParameter(const paramkey& key, paramval* val, paramval minBound, paramval maxBound, const paramdescr& descr) More...

virtual void	addParameter (const paramkey &key, parambool *val, const paramdescr &descr=paramdescr())
	See addParameter(const paramkey& key, paramval* val) but for bool values. More...

virtual void	addParameter (const paramkey &key, paramint *val, paramint minBound, paramint maxBound, const paramdescr &descr=paramdescr())
	See addParameter(const paramkey& key, paramval* val) but for int values. More...

virtual void	addParameter (const paramkey &key, paramint *val, const paramdescr &descr=paramdescr())

virtual void	addParameterDef (const paramkey &key, paramval *val, paramval def, paramval minBound, paramval maxBound, const paramdescr &descr=paramdescr())
	This function is only provided for convenience. More...

virtual void	addParameterDef (const paramkey &key, paramval *val, paramval def, const paramdescr &descr=paramdescr())

virtual void	addParameterDef (const paramkey &key, parambool *val, parambool def, const paramdescr &descr=paramdescr())
	See addParameterDef(const paramkey&, paramval*, paramval) More...

virtual void	addParameterDef (const paramkey &key, paramint *val, paramint def, paramint minBound, paramint maxBound, const paramdescr &descr=paramdescr())
	See addParameterDef(const paramkey&, paramval*, paramval) More...

virtual void	addParameterDef (const paramkey &key, paramint *val, paramint def, const paramdescr &descr=paramdescr())

virtual void	setParamDescr (const paramkey &key, const paramdescr &descr, bool traverseChildren=true)
	sets a description for the given parameter More...

int	getId () const
	return the id of the configurable objects, which is created by random on initialisation More...

virtual paramkey	getName () const
	return the name of the object More...

virtual paramkey	getRevision () const
	returns the revision of the object More...

virtual void	setName (const paramkey &name, bool callSetNameOfInspectable=true)
	Sets the name of the configurable. More...

virtual void	setRevision (const paramkey &revision)
	sets the revision Hint: { return "$ID$"; } More...

virtual paramval	getParam (const paramkey &key, bool traverseChildren=true) const
	returns the value of the requested parameter or 0 (+ error message to stderr) if unknown. More...

virtual bool	hasParam (const paramkey &key, bool traverseChildren=true) const
	Returns if the requested parameter is part of the configurable or their children. More...

virtual bool	setParam (const paramkey &key, paramval val, bool traverseChildren=true)
	sets the value of the given parameter or does nothing if unknown. More...

virtual void	setParamBounds (const paramkey &key, paramval minBound, paramval maxBound, bool traverseChildren=true)
	Sets the bounds (minBound and maxBound) of the given parameter. More...

virtual void	setParamBounds (const paramkey &key, paramint minBound, paramint maxBound, bool traverseChildren=true)

virtual void	setParamBounds (const paramkey &key, paramvalBounds bounds, bool traverseChildren=true)

virtual void	setParamBounds (const paramkey &key, paramintBounds bounds, bool traverseChildren=true)

virtual paramlist	getParamList () const
	The list of all parameters with there value as allocated lists. More...

virtual std::list< paramkey >	getAllParamNames (bool traverseChildren=true)
	returns all names that are configureable More...

virtual parammap	getParamValMap () const

virtual paramintmap	getParamIntMap () const

virtual paramboolmap	getParamBoolMap () const

virtual paramdescr	getParamDescr (const paramkey &key, bool traverseChildren=true) const
	returns the description for the given parameter More...

virtual paramvalBounds	getParamvalBounds (const paramkey &key, bool traverseChildren=true) const

virtual paramintBounds	getParamintBounds (const paramkey &key, bool traverseChildren=true) const

virtual bool	hasParamDescr (const paramkey &key, bool traverseChildren=true) const

virtual bool	hasParamvalBounds (const paramkey &key, bool traverseChildren=true) const

virtual bool	hasParamintBounds (const paramkey &key, bool traverseChildren=true) const

virtual bool	storeCfg (const char *filenamestem, const std::list< std::string > &comments=std::list< std::string >())
	stores the key values paires into the file : filenamestem.cfg including the comments given in the list More...

virtual bool	restoreCfg (const char *filenamestem)
	restores the key values paires from the file : filenamestem.cfg More...

void	print (FILE f, const char prefix, int columns=90, bool traverseChildren=true) const
	prints the keys, values and descriptions to the file. Each line is prefixed More...

bool	parse (FILE f, const char prefix=0, bool traverseChildren=true)
	parses the configuration from the given file More...

virtual void	addConfigurable (Configurable *conf)
	Adds a configurable as a child object. More...

virtual void	removeConfigurable (Configurable *conf)
	Removes a configurable as a child object. More...

virtual const configurableList &	getConfigurables () const
	Returns the list containing all configurable children. More...

virtual void	configurableChanged ()
	Indicates that the configurable itself or the configurable children attached to this configurable have changed. More...

Public Member Functions inherited from BackCaller
	BackCaller ()

virtual	~BackCaller ()

virtual void	addCallbackable (Callbackable *callbackableInstance, CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Adds a Callbackable instance to this caller instance. More...

virtual void	removeCallbackable (Callbackable *callbackableInstance, CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Removes a Callbackable instance from this caller instance. More...

virtual void	removeAllCallbackables (CallbackableType type)
	Removes all Callbackable instances from this caller instance. More...

virtual void	callBack (CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Calls all registered callbackable classes of the determined type. More...

virtual void	callBackQMP (CallbackableType type=BackCaller::DEFAULT_CALLBACKABLE_TYPE)
	Calls all registered callbackable classes of the determined type. More...

Public Member Functions inherited from Callbackable
	Callbackable ()

virtual	~Callbackable ()

Protected Member Functions
virtual bool	handle (const osgGA::GUIEventAdapter &ea, osgGA::GUIActionAdapter &)

virtual void	getUsage (osg::ApplicationUsage &au) const

virtual void	accept (osgGA::GUIEventHandlerVisitor &v)

virtual bool	init (int argc, char **argv)

virtual void	updateGraphics ()
	update the graphics objects More...

void	setCameraHomePos (const osg::Vec3 &eye, const osg::Vec3 &view)
	define the home position and view orientation of the camera. More...

void	setCameraMode (CameraMode mode)
	Sets the mode of the camera, the numbers are the same like the keys. More...

bool	startVideoRecording (const char *name)
	start video recording (write frames to name(XXX) folder) More...

bool	stopVideoRecording ()
	stop video recording More...

void	setWatchedAgent (OdeAgent *agent)
	Sets the agent to be watched with the camera. More...

OdeAgent *	getWatchedAgent () const
	returns the watched agent (or 0) More...

bool	control_c_pressed ()

	__attribute__ ((deprecated)) void showParams(const ConfigList &configs)
	shows all parameters of all given configurable objects More...

virtual bool	processCmdLine (int argc, char **argv)
	returns false if the program is to exit More...

void	resetSyncTimer ()

long	timeOfDayinMS ()

std::list< std::pair < std::string, double > >	parseKeyValuePairs (std::string kv)

Protected Member Functions inherited from Base
virtual void	setTimeStats (double time, double realtimefactor, double truerealtimefactor, bool pause)

virtual void	changeShadowTechnique ()
	Changes the currently used shadow technique. More...

virtual void	base_close ()
	deletes the stuff that is created on makescene and the like More...

Protected Member Functions inherited from Configurable
void	copyParameters (const Configurable &, bool traverseChildren=true)
	copies the internal params of the given configurable More...

void	printdescr (FILE f, const char prefix, const paramkey &key, int columns, int indent) const

Static Protected Member Functions
static void	nearCallback_TopLevel (void *data, dGeomID o1, dGeomID o2)

static void	nearCallback (void *data, dGeomID o1, dGeomID o2)

Protected Attributes
std::list< PlotOption > &	plotoptions

GlobalData	globalData

osg::ref_ptr< VideoStream >	videostream

long	realtimeoffset

long	simtimeoffset

double	truerealtimefactor

bool	justresettimes

bool	drawContacts

paramint	windowWidth

paramint	windowHeight

paramint	defaultFPS

bool	pause

bool	simulation_time_reached

long int	simulation_time

bool	noGraphics

bool	useKeyHandler

int	guiloggerinterval

int	filelogginginterval

int	matrixvizinterval

std::string	initConfParams
	parameters for configurables set on commandline More...

char	odeRobotsCfg [256]

int	currentCycle
	< filename of config file More...

CameraHandle	cameraHandle

parambool	useOdeThread

parambool	useOsgThread

parambool	useQMPThreads

parambool	inTaskedMode

std::string	windowName

SimulationState	state

osg::ArgumentParser *	arguments

LPZViewer *	viewer

osgGA::KeySwitchMatrixManipulator *	keyswitchManipulator

char **	orig_argv

std::list< std::string >	paletteFiles

std::list< std::string >	colorAliasFiles

bool	verboseColorLoading

bool	startConfigurator

pthread_t	odeThread

pthread_t	osgThread

bool	odeThreadCreated

bool	osgThreadCreated

Protected Attributes inherited from Base
dGeomID	ground

OsgHandle	osgHandle

OdeHandle	odeHandle

std::string	caption

std::string	title

std::string	groundTexture

osg::Group *	dummy

osg::Node *	hud

osgText::Text *	timestats

osgText::Text *	captionline

osgText::Text *	titleline

StatLineProperties	statlineprop

Primitive *	plane

HUDStatisticsManager *	hUDStatisticsManager
	this manager provides methods for displaying statistics on the graphical window! More...

int	ReceivesShadowTraversalMask

int	CastsShadowTraversalMask

int	shadowTexSize

bool	useNVidia

Static Protected Attributes
static int	ctrl_C = 0

Additional Inherited Members
Static Public Member Functions inherited from Base
static int	contains (char *list, int len, const char str)
	returns the index+1 if the list contains the given string or 0 if not More...

Static Public Attributes inherited from Base
static const int	PHYSICS_CALLBACKABLE = 1
	called each ode/physics step More...

static const int	GRAPHICS_CALLBACKABLE = 2
	called each osg/draw step More...

Static Public Attributes inherited from Configurable
static const CallbackableType	CALLBACK_CONFIGURABLE_CHANGED = 11

Static Public Attributes inherited from BackCaller
static const CallbackableType	DEFAULT_CALLBACKABLE_TYPE = 0
	This is the default Callbackable type. More...

Member Enumeration Documentation

enum CameraMode

Enumerator
Static
Follow
TV
Race

enum SimulationState

Enumerator
none
initialised
running
closed

Constructor & Destructor Documentation

Simulation ( )

~Simulation ( )

virtual

Member Function Documentation

__attribute__ ( (deprecated) ) const

inlineprotected

shows all parameters of all given configurable objects

Deprecated:: this is handled by simulation itself, do not call this function anymore

void accept ( osgGA::GUIEventHandlerVisitor & v )

protectedvirtual

virtual void addCallback	(	GlobalData &	globalData,
		bool	draw,
		bool	pause,
		bool	control
	)

inlinevirtual

optional additional callback function which is called every simulation step.

Called between physical simulation step and drawing.

Parameters

draw	indicates that objects are drawn in this timestep
pause	always false (only called of simulation is running)
control	indicates that robots have been controlled this timestep

Reimplemented in ThisSim, and ThisSim.

void addColorAliasFile	(	const std::string &	filename,
		bool	verbose = `false`
	)

virtual

adds a color alias file to be loaded at initialization time Call this before run()!

void addPaletteFile	(	const std::string &	filename,
		bool	verbose = `false`
	)

virtual

adds a palette file to be loaded at initialization time Call this before run()!

virtual void bindingDescription ( osg::ApplicationUsage & au ) const

inlinevirtual

this can be used to describe the key bindings used by command()

Reimplemented in ThisSim, and ThisSim.

virtual bool collCallback	(	const OdeHandle &	,
		void *	data,
		dGeomID	o1,
		dGeomID	o2
	)

inlinevirtual

collCallback() can be used to overload the standart collision handling.

However it is called after the robots collision handling.

Returns: true if collision is treated, false otherwise

virtual bool command	(	const OdeHandle &	,
		const OsgHandle &	,
		GlobalData &	globalData,
		int	key,
		bool	down
	)

inlinevirtual

is called if a key was pressed.

For keycodes see: osgGA::GUIEventAdapter

Returns: true if the key was handled

Reimplemented in ThisSim, and ThisSim.

bool config ( GlobalData & globalData )

virtual

config() is called when the user presses Ctrl-C

Returns: false to exit program, true otherwise

bool control_c_pressed ( )

protected

void doOnCallBack	(	BackCaller *	source,
		BackCaller::CallbackableType	type = `BackCaller::DEFAULT_CALLBACKABLE_TYPE`
	)

overridevirtual

This method is invoked when a callback is done from the class where this class is for callback registered.

Parameters

source	the caller instance which did the callback.
type	this type can be used to differ from varying types of callback.

See Also: BackCaller

Implements Callbackable.

void end ( GlobalData & globalData )

virtual

end() is called at the end and should tidy up

void getUsage ( osg::ApplicationUsage & au ) const

protectedvirtual

OdeAgent * getWatchedAgent ( ) const

protected

returns the watched agent (or 0)

bool handle	(	const osgGA::GUIEventAdapter &	ea,
		osgGA::GUIActionAdapter &
	)

protectedvirtual

bool init	(	int	argc,
		char **	argv
	)

protectedvirtual

void nearCallback	(	void *	data,
		dGeomID	o1,
		dGeomID	o2
	)

staticprotected

use the new method with substances

void nearCallback_TopLevel	(	void *	data,
		dGeomID	o1,
		dGeomID	o2
	)

staticprotected

void odeStep ( )

virtual

void osgStep ( )

virtual

list< pair< string, double > > parseKeyValuePairs ( std::string kv )

protected

bool processCmdLine	(	int	argc,
		char **	argv
	)

protectedvirtual

returns false if the program is to exit

void resetSyncTimer ( )

protected

bool restart	(	const OdeHandle &	,
		const OsgHandle &	,
		GlobalData &	globalData
	)

virtual

restart() is called at the second and all following starts of the cylce The end of a cycle is determined by (simulation_time_reached==true)

restart() is called at the second and all following starts of the cylces

Parameters

the	odeHandle
the	osgHandle
globalData

Returns: if the simulation should be restarted; this is false by default

bool run	(	int	argc,
		char **	argv
	)

starts the Simulation.

Do not overload it. This function returns of the simulation is terminated.

Returns: : true if closed regulary, false on error

void setCameraHomePos	(	const osg::Vec3 &	eye,
		const osg::Vec3 &	view
	)

protected

define the home position and view orientation of the camera.

view.x is the heading angle in degree. view.y is the tilt angle in degree (nick), view.z is ignored

void setCameraMode ( CameraMode mode )

protected

Sets the mode of the camera, the numbers are the same like the keys.

Parameters

mode	see CameraMode

void setWatchedAgent ( OdeAgent * agent )

protected

Sets the agent to be watched with the camera.

Parameters

agent to set

virtual void start	(	const OdeHandle &	,
		const OsgHandle &	,
		GlobalData &	globalData
	)

pure virtual

start() is called at the first start of the cycles and should create all the object (obstacles, agents...).

Implemented in ThisSim, and ThisSim.

bool startVideoRecording ( const char * name )

protected

start video recording (write frames to name(XXX) folder)

bool stopVideoRecording ( )

protected

stop video recording

long timeOfDayinMS ( )

protected

void updateGraphics ( )

protectedvirtual

update the graphics objects

virtual void usage ( ) const

inlinevirtual

this can be used to print additional usage information (cmd-line options)

Reimplemented in ThisSim.

Member Data Documentation

osg::ArgumentParser* arguments

protected

CameraHandle cameraHandle

protected

std::list<std::string> colorAliasFiles

protected

int ctrl_C = 0

staticprotected

int currentCycle

protected

< filename of config file

the current cycle; the simulation restarts if restart() returns true

paramint defaultFPS

protected

bool drawContacts

protected

int filelogginginterval

protected

GlobalData globalData

protected

int guiloggerinterval

protected

std::string initConfParams

protected

parameters for configurables set on commandline

parambool inTaskedMode

protected

bool justresettimes

protected

osgGA::KeySwitchMatrixManipulator* keyswitchManipulator

protected

int matrixvizinterval

protected

bool noGraphics

protected

char odeRobotsCfg[256]

protected

pthread_t odeThread

protected

bool odeThreadCreated

protected

char** orig_argv

protected

pthread_t osgThread

protected

bool osgThreadCreated

protected

std::list<std::string> paletteFiles

protected

bool pause

protected

std::list<PlotOption>& plotoptions

protected

long realtimeoffset

protected

long simtimeoffset

protected

long int simulation_time

protected

bool simulation_time_reached

protected

bool startConfigurator

protected

SimulationState state

protected

double truerealtimefactor

protected

bool useKeyHandler

protected

parambool useOdeThread

protected

parambool useOsgThread

protected

parambool useQMPThreads

protected

bool verboseColorLoading

protected

osg::ref_ptr<VideoStream> videostream

protected

LPZViewer* viewer

protected

paramint windowHeight

protected

std::string windowName

protected

paramint windowWidth

protected

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

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation