KinematicSimulator Class Reference

interface of a kinematic simulator More...

#include <KinematicSimulator.hpp>

Inherits Simulator.

Public Types
typedef rw::core::Ptr< KinematicSimulator >	Ptr
	smart pointer type of KinematicSimulator
Public Types inherited from Simulator
typedef rw::core::Ptr< Simulator >	Ptr
	smart pointer type of simulator

Public Member Functions
virtual void	addController (rwlibs::simulation::SimulatedController *controller)
	add a simulated controller to the simulator More...
virtual void	addSensor (rwlibs::simulation::SimulatedSensor *sensor)
	add a simulated sensor to the simulator More...
virtual void	removeSensor (rwlibs::simulation::SimulatedSensor *sensor)
	remove a sensor from simulation More...
void	addSimulator (rwlibs::simulation::Simulator *sim)
	add a simulator that is to be controlled by this simulator More...
void	step (double dt)
	take a step forward in time with timestep dt. More...
Public Member Functions inherited from Simulator
virtual void	reset (const rw::kinematics::State &state)=0
	reset velocity and acceleration of all bodies to 0. And sets the position of all bodies to that described in state
virtual void	init (rw::kinematics::State &state)=0
	initialize simulator with state variables
virtual double	getTime ()=0
	gets the the current simulated time
virtual rw::kinematics::State &	getState ()=0
	get current state of simulator More...
virtual void	setEnabled (rw::core::Ptr< rw::kinematics::Frame > frame, bool enabled)=0
virtual rw::core::PropertyMap &	getPropertyMap ()=0
	get propertymap of this simulator
virtual rw::sensor::Sensor::Ptr	getSensor (const std::string &name)
	get sensor with specific name
virtual rwlibs::control::Controller::Ptr	getController (const std::string &name)
	get controller with specific name
template<class SIMSENSORTYPE >
rw::sensor::Sensor::Ptr	getSensorHandle (SIMSENSORTYPE *ssensor)
	get sensorhandle to a statefull instance of the simulated sensor, controlling the sensor in this simulator. More...
template<class SIMSENSORTYPE >
bool	hasHandle (SIMSENSORTYPE *ssensor)
	Test if handle for simulatedsensor exists. More...
template<class SIMSENSORTYPE >
void	addHandle (SIMSENSORTYPE *ssensor, rw::sensor::Sensor::Ptr sensor)
	add handle to a specific simulated sensor More...

Detailed Description

interface of a kinematic simulator

Member Function Documentation

addController()

virtual void addController ( rwlibs::simulation::SimulatedController *  controller )

virtual

add a simulated controller to the simulator

Parameters

controller

[in] the controller to be simulated

addSensor()

virtual void addSensor ( rwlibs::simulation::SimulatedSensor *  sensor )

virtual

add a simulated sensor to the simulator

Parameters

sensor

[in] the sensor

addSimulator()

void addSimulator

(

rwlibs::simulation::Simulator *

sim

)

add a simulator that is to be controlled by this simulator

Parameters

sim

removeSensor()

virtual void removeSensor ( rwlibs::simulation::SimulatedSensor *  sensor )

virtual

remove a sensor from simulation

Parameters

sensor

[in] sensor that is to be removed

step()

void step ( double  dt )

virtual

take a step forward in time with timestep dt.

Parameters

dt	[in] the time step

Implements Simulator.

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

• KinematicSimulator.hpp