Simulation Class Reference

#include <simulation.h>

Inherited by TaskedSimulation, and ThisSim.

Collaboration diagram for Simulation:

Public Types
enum	SimulationState { none, initialised, running, closed }
enum	CameraMode { Static = 0, Follow, TV, Race }
Public Member Functions
	Simulation ()
virtual	~Simulation ()
bool	run (int argc, char **argv)
	starts the Simulation.
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...).
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)
virtual void	end (GlobalData &globalData)
	end() is called at the end and should tidy up
virtual bool	config (GlobalData &globalData)
	config() is called when the user presses Ctrl-C
virtual bool	command (const OdeHandle &, const OsgHandle &, GlobalData &globalData, int key, bool down)
	is called if a key was pressed.
virtual void	bindingDescription (osg::ApplicationUsage &au) const
	this can be used to describe the key bindings used by command()
virtual void	usage () const
	this can be used to print additional usage information (cmd-line options)
virtual bool	collCallback (const OdeHandle &, void *data, dGeomID o1, dGeomID o2)
	collCallback() can be used to overload the standart collision handling.
virtual void	addCallback (GlobalData &globalData, bool draw, bool pause, bool control)
	optional additional callback function which is called every simulation step.
virtual void	addPaletteFile (const std::string &filename, bool verbose=false)
	adds a palette file to be loaded at initialization time Call this before run()!
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()!
virtual void	odeStep ()
virtual void	osgStep ()
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
void	setCameraHomePos (const osg::Vec3 &eye, const osg::Vec3 &view)
	define the home position and view orientation of the camera.
void	setCameraMode (CameraMode mode)
	Sets the mode of the camera, the numbers are the same like the keys.
void	setWatchedAgent (OdeAgent *agent)
	Sets the agent to be watched with the camera.
bool	control_c_pressed ()
	__attribute__ ((deprecated)) void showParams(const ConfigList &configs)
	shows all parameters of all given configurable objects
virtual bool	processCmdLine (int argc, char **argv)
	returns false if the program is to exit
void	resetSyncTimer ()
long	timeOfDayinMS ()
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
int	nextLeakAnnounce
int	leakAnnCounter
long	realtimeoffset
long	simtimeoffset
double	truerealtimefactor
bool	justresettimes
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
char	odeRobotsCfg [256]
int	currentCycle
	< filename of config file
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
Static Protected Attributes
static int	ctrl_C = 0

Detailed Description

Examples:: template_sphererobot/main.cpp.

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 [inline, protected]

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 ) [protected, virtual]

virtual void addCallback	(	GlobalData &	globalData,
		bool	draw,
		bool	pause,
		bool	control
	)			`[inline, virtual]`

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.

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 [inline, virtual]

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

Reimplemented in ThisSim.

virtual bool collCallback	(	const OdeHandle &	,
		void *	data,
		dGeomID	o1,
		dGeomID	o2
	)			`[inline, virtual]`

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
	)			`[inline, virtual]`

is called if a key was pressed.

For keycodes see: osgGA::GUIEventAdapter

Returns:: true if the key was handled

Reimplemented in 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 end ( GlobalData & globalData ) [virtual]

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

void getUsage ( osg::ApplicationUsage & au ) const [protected, virtual]

bool handle	(	const osgGA::GUIEventAdapter &	ea,
		osgGA::GUIActionAdapter &
	)			`[protected, virtual]`

bool init	(	int	argc,
		char **	argv
	)			`[protected, virtual]`

void nearCallback	(	void *	data,
		dGeomID	o1,
		dGeomID	o2
	)			`[static, protected]`

use the new method with substances

void nearCallback_TopLevel	(	void *	data,
		dGeomID	o1,
		dGeomID	o2
	)			`[static, protected]`

void odeStep ( ) [virtual]

void osgStep ( ) [virtual]

bool processCmdLine	(	int	argc,
		char **	argv
	)			`[protected, virtual]`

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

Examples:: template_sphererobot/main.cpp.

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

Examples:: template_sphererobot/main.cpp.

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.

long timeOfDayinMS ( ) [protected]

void updateGraphics ( ) [protected, virtual]

update the graphics objects

virtual void usage ( ) const [inline, virtual]

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

Member Data Documentation

osg::ArgumentParser* arguments [protected]

CameraHandle cameraHandle [protected]

std::list<std::string> colorAliasFiles [protected]

int ctrl_C = 0 [static, protected]

int currentCycle [protected]

< filename of config file

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

paramint defaultFPS [protected]

int filelogginginterval [protected]

GlobalData globalData [protected]

Examples:: template_sphererobot/main.cpp.

int guiloggerinterval [protected]

parambool inTaskedMode [protected]

bool justresettimes [protected]

osgGA::KeySwitchMatrixManipulator* keyswitchManipulator [protected]

int leakAnnCounter [protected]

int matrixvizinterval [protected]

int nextLeakAnnounce [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:

Simulation Class Reference

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation