RobWorkProject: DynamicSimulator Class Reference

A general physics engine interface for simulating dynamics of objects and robot devices. More...

#include <DynamicSimulator.hpp>

Public Types
typedef rw::core::Ptr< DynamicSimulator >	Ptr
	smart pointer type of this class

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

Public Member Functions
	DynamicSimulator (rwsim::dynamics::DynamicWorkCell::Ptr dworkcell, rw::core::Ptr< PhysicsEngine > pengine)
	Constructor. More...

	DynamicSimulator (rwsim::dynamics::DynamicWorkCell::Ptr dworkcell)
	Constructor for a DynamicSimulator using a default PhysicsEngine. More...

virtual	~DynamicSimulator ()
	destructor

void	exitPhysics ()
	cleans up the allocated storage

double	getTime ()
	gets the the current simulated time More...

void	setEnabled (dynamics::Body::Ptr body, bool enabled)
	Enables or disables a body. More...

drawable::SimulatorDebugRender::Ptr	createDebugRender ()
	create a debug render for the specific implementation More...

rw::core::PropertyMap &	getPropertyMap ()
	Get the properties used by the simulator. More...

void	addController (rw::core::Ptr< rwlibs::simulation::SimulatedController > controller)
	add a simulated controller to this simulator More...

void	removeController (rw::core::Ptr< rwlibs::simulation::SimulatedController > controller)
	removes a simulated controller from this simulator More...

void	addBody (rwsim::dynamics::Body::Ptr body, rw::kinematics::State &state)
	Add a body to the simulator. More...

void	addBody (rwsim::dynamics::Body::Ptr body)
	Add a body to the simulator. More...

void	addDevice (rwsim::dynamics::DynamicDevice::Ptr dev, rw::kinematics::State &state)
	Add a device to the simulator. More...

void	addDevice (rwsim::dynamics::DynamicDevice::Ptr dev)
	Add a device to the simulator. More...

void	addSensor (rwlibs::simulation::SimulatedSensor::Ptr sensor, rw::kinematics::State &state)
	Add a simulated sensor to the simulator. More...

void	addSensor (rwlibs::simulation::SimulatedSensor::Ptr sensor)
	Add a simulated sensor to the simulator. More...

void	removeSensor (rwlibs::simulation::SimulatedSensor::Ptr sensor)
	Remove a simulated sensor from the simulator. More...

std::vector< rwlibs::simulation::SimulatedSensor::Ptr >	getSensors ()
	get the list of simulated sensors More...

void	step (double dt)
	take a step forward in time with timestep dt. More...

rw::kinematics::State &	getState ()
	get current state of simulator More...

void	reset (const rw::kinematics::State &state)
	reset velocity and acceleration of all bodies to 0. And sets the position of all bodies to that described in state More...

void	init (rw::kinematics::State &state)
	initialize simulator with state variables More...

void	setEnabled (rw::core::Ptr< rw::kinematics::Frame > f, bool)

void	setDynamicsEnabled (rwsim::dynamics::Body::Ptr body, bool enabled)
	Enable or disable a body in the simulation. More...

void	setTarget (rwsim::dynamics::Body::Ptr body, const rw::math::Transform3D<> &target, rw::kinematics::State &state, double maxLinVel=0.5, double maxLinAcc=1.0, double maxAngVel=0.4, double maxAngAcc=1.0)
	Set a target position of a body. This will add forces/velocities to a body such that it moves toward the target pose. More...

void	setTarget (rwsim::dynamics::Body::Ptr body, const rw::math::Transform3D<> &target, double maxLinVel=0.5, double maxLinAcc=1.0, double maxAngVel=0.4, double maxAngAcc=1.0)
	Set a target position of a body. This will add forces/velocities to a body such that it moves toward the target pose. More...

void	setTarget (dynamics::Body::Ptr body, rw::trajectory::Trajectory< rw::math::Transform3D<>>::Ptr traj)
	Set a target trajectory for a body. More...

void	setTarget (dynamics::Body::Ptr body, const rw::math::VelocityScrew6D<> &velocity)
	Set a velocity target. More...

void	disableBodyControl (dynamics::Body::Ptr body)
	disables the target control of body body. More...

void	disableBodyControl ()
	Disable all control for all bodies.

rwsim::control::BodyController::Ptr	getBodyController ()
	Get the body controller. More...

void	attach (rwsim::dynamics::Body::Ptr b1, rwsim::dynamics::Body::Ptr b2)
	Attach bodies. More...

void	detach (rwsim::dynamics::Body::Ptr b1, rwsim::dynamics::Body::Ptr b2)
	Detach bodies. More...

rwsim::dynamics::DynamicWorkCell::Ptr	getDynamicWorkCell ()
	Get the dynamic workcell used by the simulator. More...

void	forceUpdate (rwsim::dynamics::Body::Ptr body, rw::kinematics::State &state)
	this will force the physics engine to update the state of the body. This can be i.e. be used to teleport a rigid body to a new position. More...

Public Member Functions inherited from 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

A general physics engine interface for simulating dynamics of objects and robot devices.

The general step looks like this:;

Foreach controller=_controllers controller->update(dt,state);

physicsEngine->step(dt, state);

Foreach sensor=_sensors sensor->update(dt,state)

Constructor & Destructor Documentation

◆ DynamicSimulator() [1/2]

DynamicSimulator	(	rwsim::dynamics::DynamicWorkCell::Ptr	dworkcell,
		rw::core::Ptr< PhysicsEngine >	pengine
	)

Constructor.

Parameters

dworkcell	[in] the dynamic workcell.
pengine	[in] the physics engine to use.

◆ DynamicSimulator() [2/2]

DynamicSimulator ( rwsim::dynamics::DynamicWorkCell::Ptr dworkcell )

Constructor for a DynamicSimulator using a default PhysicsEngine.

Parameters

dworkcell [in] the dynamic workcell.

Member Function Documentation

◆ addBody() [1/2]

void addBody ( rwsim::dynamics::Body::Ptr body )

inline

Add a body to the simulator.

Parameters

body	[in] the body to add.

◆ addBody() [2/2]

void addBody	(	rwsim::dynamics::Body::Ptr	body,
		rw::kinematics::State &	state
	)

Add a body to the simulator.

Parameters

body	[in] the body to add.
state	[in] the state giving the initial pose of the body.

◆ addController()

void addController ( rw::core::Ptr< rwlibs::simulation::SimulatedController > controller )

add a simulated controller to this simulator

Parameters

controller [in] the controller to add.

◆ addDevice() [1/2]

void addDevice ( rwsim::dynamics::DynamicDevice::Ptr dev )

inline

Add a device to the simulator.

Parameters

dev	[in] the device to add.

◆ addDevice() [2/2]

void addDevice	(	rwsim::dynamics::DynamicDevice::Ptr	dev,
		rw::kinematics::State &	state
	)

Add a device to the simulator.

Parameters

dev	[in] the device to add.
state	[in/out] the state giving the initial configuration of the device, which might be changed.

◆ addSensor() [1/2]

void addSensor ( rwlibs::simulation::SimulatedSensor::Ptr sensor )

inline

Add a simulated sensor to the simulator.

Parameters

sensor [in] the sensor to add.

◆ addSensor() [2/2]

void addSensor	(	rwlibs::simulation::SimulatedSensor::Ptr	sensor,
		rw::kinematics::State &	state
	)

Add a simulated sensor to the simulator.

Parameters

sensor	[in] the sensor to add.
state	[in/out] if the sensor is not registered in the state, it will be registered.

◆ attach()

void attach	(	rwsim::dynamics::Body::Ptr	b1,
		rwsim::dynamics::Body::Ptr	b2
	)

Attach bodies.

Parameters

b1	[in] first body.
b2	[in] second body.

◆ createDebugRender()

drawable::SimulatorDebugRender::Ptr createDebugRender ( )

create a debug render for the specific implementation

Returns: NULL if no render is available else a valid render

◆ detach()

void detach	(	rwsim::dynamics::Body::Ptr	b1,
		rwsim::dynamics::Body::Ptr	b2
	)

Detach bodies.

Parameters

b1	[in] first body.
b2	[in] second body.

◆ disableBodyControl()

void disableBodyControl ( dynamics::Body::Ptr body )

disables the target control of body body.

Parameters

body	[in] the body.

◆ forceUpdate()

void forceUpdate	(	rwsim::dynamics::Body::Ptr	body,
		rw::kinematics::State &	state
	)

this will force the physics engine to update the state of the body. This can be i.e. be used to teleport a rigid body to a new position.

Parameters

body	[in] the body to update.
state	[in] the state to update the body from.

◆ getBodyController()

rwsim::control::BodyController::Ptr getBodyController ( )

inline

Get the body controller.

Returns: the controller.

◆ getDynamicWorkCell()

rwsim::dynamics::DynamicWorkCell::Ptr getDynamicWorkCell ( )

inline

Get the dynamic workcell used by the simulator.

Returns: the dynamic workcell.

◆ getPropertyMap()

rw::core::PropertyMap& getPropertyMap ( )

virtual

Get the properties used by the simulator.

Returns: a reference to the properties.

Implements Simulator.

◆ getSensors()

std::vector<rwlibs::simulation::SimulatedSensor::Ptr> getSensors ( )

get the list of simulated sensors

Returns: vector of sensors.

◆ getState()

rw::kinematics::State& getState ( )

virtual

get current state of simulator

Returns: current state of simulator

Implements Simulator.

◆ getTime()

double getTime ( )

virtual

gets the the current simulated time

Returns: current simulated time.

Implements Simulator.

◆ init()

void init ( rw::kinematics::State & state )

virtual

initialize simulator with state variables

Note: initialize simulator physics with state

Implements Simulator.

◆ removeController()

void removeController ( rw::core::Ptr< rwlibs::simulation::SimulatedController > controller )

removes a simulated controller from this simulator

Parameters

controller [in] the controller to remove.

◆ removeSensor()

void removeSensor ( rwlibs::simulation::SimulatedSensor::Ptr sensor )

Remove a simulated sensor from the simulator.

Parameters

sensor [in] the sensor to remove.

◆ reset()

void reset ( const rw::kinematics::State & state )

virtual

reset velocity and acceleration of all bodies to 0. And sets the position of all bodies to that described in state

Note: resets position, velocity and acceleration of all bodies to that defined in state or by the default behavior of body/device interfaces.

Implements Simulator.

◆ setDynamicsEnabled()

void setDynamicsEnabled	(	rwsim::dynamics::Body::Ptr	body,
		bool	enabled
	)

Enable or disable a body in the simulation.

Parameters

body	[in] the body.
enabled	[in] boolean indicating if body should be enabled or not.

◆ setEnabled() [1/2]

void setEnabled	(	dynamics::Body::Ptr	body,
		bool	enabled
	)

Enables or disables a body.

Parameters

body	[in] the body.
enabled	[in] boolean indicating whether body should be enabled or disabled.

◆ setEnabled() [2/2]

void setEnabled	(	rw::core::Ptr< rw::kinematics::Frame >	f,
		bool
	)

virtual

Enables or disables simulation of a frame

Note: this only has an effect if the frame f is successfully mapped to any fo the bodies in the scene eg. a body frame of one of the bodies.

Implements Simulator.

◆ setTarget() [1/4]

void setTarget	(	dynamics::Body::Ptr	body,
		const rw::math::VelocityScrew6D<> &	velocity
	)

Set a velocity target.

Parameters

body	[in] the body that should move.
velocity	[in] the velocity target.

◆ setTarget() [2/4]

void setTarget	(	dynamics::Body::Ptr	body,
		rw::trajectory::Trajectory< rw::math::Transform3D<>>::Ptr	traj
	)

Set a target trajectory for a body.

Parameters

body	[in] the body.
traj	[in] the trajectory.

◆ setTarget() [3/4]

void setTarget	(	rwsim::dynamics::Body::Ptr	body,
		const rw::math::Transform3D<> &	target,
		double	maxLinVel = `0.5`,
		double	maxLinAcc = `1.0`,
		double	maxAngVel = `0.4`,
		double	maxAngAcc = `1.0`
	)

inline

Set a target position of a body. This will add forces/velocities to a body such that it moves toward the target pose.

Parameters

body	[in] the body to control
target	[in] the target pose
maxLinVel	[in] (optional) maximum linear velocity of the body in \(\frac{m}{s}\).
maxLinAcc	[in] (optional) maximum linear acceleration of the body in \(\frac{m}{s^2}\).
maxAngVel	[in] (optional) maximum angular velocity of the body in \(\frac{rad}{s}\).
maxAngAcc	[in] (optional) maximum angular acceleration of the body in \(\frac{rad}{s^2}\).

◆ setTarget() [4/4]

void setTarget	(	rwsim::dynamics::Body::Ptr	body,
		const rw::math::Transform3D<> &	target,
		rw::kinematics::State &	state,
		double	maxLinVel = `0.5`,
		double	maxLinAcc = `1.0`,
		double	maxAngVel = `0.4`,
		double	maxAngAcc = `1.0`
	)

Set a target position of a body. This will add forces/velocities to a body such that it moves toward the target pose.

Parameters

body	[in] the body to control
target	[in] the target pose
state	[in] the current state.
maxLinVel	[in] (optional) maximum linear velocity of the body in \(\frac{m}{s}\).
maxLinAcc	[in] (optional) maximum linear acceleration of the body in \(\frac{m}{s^2}\).
maxAngVel	[in] (optional) maximum angular velocity of the body in \(\frac{rad}{s}\).
maxAngAcc	[in] (optional) maximum angular acceleration of the body in \(\frac{rad}{s^2}\).

◆ step()

void step ( double dt )

virtual

take a step forward in time with timestep dt.

Parameters

dt	[in] the time step

Implements Simulator.

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

DynamicSimulator.hpp

Public Types

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ DynamicSimulator() [1/2]

◆ DynamicSimulator() [2/2]

Member Function Documentation

◆ addBody() [1/2]

◆ addBody() [2/2]

◆ addController()

◆ addDevice() [1/2]

◆ addDevice() [2/2]

◆ addSensor() [1/2]

◆ addSensor() [2/2]

◆ attach()

◆ createDebugRender()

◆ detach()

◆ disableBodyControl()

◆ forceUpdate()

◆ getBodyController()

◆ getDynamicWorkCell()

◆ getPropertyMap()

◆ getSensors()

◆ getState()

◆ getTime()

◆ init()

◆ removeController()

◆ removeSensor()

◆ reset()

◆ setDynamicsEnabled()

◆ setEnabled() [1/2]

◆ setEnabled() [2/2]

◆ setTarget() [1/4]

◆ setTarget() [2/4]

◆ setTarget() [3/4]

◆ setTarget() [4/4]

◆ step()