Simulation Class Reference

#include <simulation.h>

Inherits Base, and Configurable.

Inherited by TaskedSimulation, and ThisSim.

Inheritance diagram for Simulation:

[legend]Collaboration diagram for Simulation:

[legend]List of all members.

Public Types
	none
	initialised
	running
	closed
enum	SimulationState { none, initialised, running, closed }
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 cylces
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 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	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)
void	setCameraHomePos (const osg::Vec3 &eye, const osg::Vec3 &view)
	define the home position and view orientation of the camera.
bool	control_c_pressed ()
virtual void	processCmdLine (int argc, char **argv)
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
std::list< Configurable * > &	globalconfigurables
	this list contains by default only the odeconfig. This list should be added to new agents
GlobalData	globalData
osg::ref_ptr< VideoStream >	videostream
int	nextLeakAnnounce
int	leakAnnCounter
long	realtimeoffset
long	simtimeoffset
double	truerealtimefactor
bool	justresettimes
paramint	windowWidth
paramint	windowHeight
bool	pause
bool	simulation_time_reached
long int	simulation_time
bool	noGraphics
int	guiloggerinterval
int	filelogginginterval
int	neuronvizinterval
char	odeRobotsCfg [256]
int	currentCycle
	the current cycle; the simulation restarts if restart() returns true
CameraHandle	cameraHandle
parambool	useOdeThread
parambool	useOsgThread
parambool	useQMPThreads
parambool	inTaskedMode
std::string	windowName

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Detailed Description

Examples:

template_sphererobot/main.cpp.

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Member Enumeration Documentation

enum SimulationState

Enumerator:

none
initialised
running
closed

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Constructor & Destructor Documentation

Simulation

(

)

~Simulation

(

)

[virtual]

---

Member Function Documentation

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

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 otherwiese

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]

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

void odeStep

(

)

[virtual]

void osgStep

(

)

[virtual]

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

void resetSyncTimer

(

)

[protected]

bool restart	(	const OdeHandle &	,
		const OsgHandle &	,
		GlobalData &	globalData
	)			[virtual]

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

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]

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Member Data Documentation

CameraHandle cameraHandle [protected]

int currentCycle [protected]

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

int filelogginginterval [protected]

std::list<Configurable*>& globalconfigurables [protected]

this list contains by default only the odeconfig. This list should be added to new agents

GlobalData globalData [protected]

int guiloggerinterval [protected]

parambool inTaskedMode [protected]

bool justresettimes [protected]

int leakAnnCounter [protected]

int neuronvizinterval [protected]

int nextLeakAnnounce [protected]

bool noGraphics [protected]

char odeRobotsCfg[256] [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]

double truerealtimefactor [protected]

parambool useOdeThread [protected]

parambool useOsgThread [protected]

parambool useQMPThreads [protected]

osg::ref_ptr<VideoStream> videostream [protected]

paramint windowHeight [protected]

std::string windowName [protected]

paramint windowWidth [protected]

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

• simulation.h
• simulation.cpp

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