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Robot Simulator of the Robotics Group for Self-Organization of Control
0.8.0
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Robot Simulator of the Robotics Group for Self-Organization of Control
0.8.0
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#include <taskedsimulation.h>
Public Member Functions | |
| TaskedSimulation () | |
| virtual | ~TaskedSimulation () |
| virtual void | start (const OdeHandle &, const OsgHandle &, GlobalData &globalData, SimulationTaskHandle &simTaskHandle, int taskId) |
| 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, SimulationTaskHandle &, int taskId) |
| 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 | addCallback (GlobalData &globalData, bool draw, bool pause, bool control, SimulationTaskHandle &, int taskId) |
| optional additional callback function which is called every simulation step. More... | |
| virtual bool | command (const OdeHandle &, const OsgHandle &, GlobalData &globalData, int key, bool down, SimulationTaskHandle &, int taskId) |
| is called if a key was pressed. More... | |
| void | setTaskId (int taskId) |
| Sets the taskId of the associated SimulationTask. More... | |
| void | setTaskNameSuffix (std::string nameSuffix) |
| void | setSimTaskHandle (SimulationTaskHandle &simTaskHandle) |
| Sets the global SimulationTaskHandle. More... | |
 Public Member Functions inherited from Simulation | |
| Simulation () | |
| virtual | ~Simulation () |
| bool | run (int argc, char **argv) |
| starts the Simulation. 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 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 | 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 |
| 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 () |
Additional Inherited Members | |
| Public Types inherited from Simulation | |
| 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 |
| 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... | |
| Protected Member Functions inherited from Simulation | |
| 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... | |
| 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 inherited from Simulation | |
| static void | nearCallback_TopLevel (void *data, dGeomID o1, dGeomID o2) |
| static void | nearCallback (void *data, dGeomID o1, dGeomID o2) |
| Protected Attributes inherited from Simulation | |
| 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 inherited from Simulation | |
| static int | ctrl_C = 0 |
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optional additional callback function which is called every simulation step.
Called between physical simulation step and drawing.
| 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 |
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is called if a key was pressed.
For keycodes see: osgGA::GUIEventAdapter
Reimplemented in ThisSim.
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Sets the global SimulationTaskHandle.
This method is called by the associated SimulationTask.
| simTaskHandle |
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Sets the taskId of the associated SimulationTask.
This method is called by the associated SimulationTask.
| taskId | of the associated SimulationTask |
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1.8.6 
