Simulator Class Reference

interface of a general simulator More...

#include <Simulator.hpp>

Inherited by KinematicSimulator, and DynamicSimulator.

Classes
struct	UpdateInfo
	step info is used when updating controllers, devices and bodies. More...

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

Public Member Functions
virtual void	step (double dt)=0
	take a step forward in time with timestep dt. More...
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 general simulator

Member Function Documentation

addHandle()

void addHandle ( SIMSENSORTYPE *  ssensor, rw::sensor::Sensor::Ptr  sensor  )

inline

add handle to a specific simulated sensor

Parameters

ssensor	[in] simulated sensor to add handle to
sensor	[in] handle to statfull instance

getSensorHandle()

rw::sensor::Sensor::Ptr getSensorHandle ( SIMSENSORTYPE *  ssensor )

inline

get sensorhandle to a statefull instance of the simulated sensor, controlling the sensor in this simulator.

Parameters

ssensor

[in] the simulated sensor for which to retrieve a handle

Returns

handle to simulated sensor instance or null if none exists

getState()

virtual rw::kinematics::State& getState ( )

pure virtual

get current state of simulator

Returns

current state of simulator

Implemented in DynamicSimulator.

hasHandle()

bool hasHandle ( SIMSENSORTYPE *  ssensor )

inline

Test if handle for simulatedsensor exists.

Parameters

ssensor

[in] the simulated sensor for which to check if a handle exists

Returns

true if a handle to simulated sensor instance exists, false otherwise

setEnabled()

virtual void setEnabled ( rw::core::Ptr< rw::kinematics::Frame >  frame, bool  enabled  )

pure virtual

Enables or disables simulation of a frame

Implemented in DynamicSimulator.

step()

virtual void step ( double  dt )

pure virtual

take a step forward in time with timestep dt.

Parameters

dt	[in] the time step

Implemented in DynamicSimulator, and KinematicSimulator.

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

• Simulator.hpp