ThreadSimulator Class Reference

Wraps a simulator in a thread safe interface, and creates a separate thread for the simulator to run in. More...

#include <ThreadSimulator.hpp>

Public Types
typedef rw::core::Ptr< ThreadSimulator >	Ptr
	smart pointer type
typedef boost::function< void(ThreadSimulator *sim, rw::kinematics::State &)>	StepCallback
	The callback type for a hook into the step call.

Public Member Functions
	ThreadSimulator (rwlibs::simulation::Simulator::Ptr simulator)
	constructor - using the default workcell state as starting state
	ThreadSimulator (rwlibs::simulation::Simulator::Ptr simulator, const rw::kinematics::State &state)
	constructor
virtual	~ThreadSimulator ()
	destructor
void	setRealTimeScale (double scale)
	This can be used to scale simulation time relative to Real World time. A scale of 1.0 makes the simulation run real time (if possible). A scale of 0.5 makes the simulation run twice as fast as real time, where a scale of 2 makes the simulation twice as slow. More...
void	setTimeStep (double dt)
	sets the timestep that will be used for the calls to the step function of the simulator More...
void	start ()
	starts the simulator constraining it too the specified period
void	stop ()
	tries to stop the simulation and blocks until the thread is stopped
void	postStop ()
	same as stop but this version is non-blocking.
void	step ()
	step the simulation one timestep
rw::kinematics::State	getState ()
	get the current state of the simuation More...
void	setState (const rw::kinematics::State &state)
	set the state of the simulator More...
void	reset (const rw::kinematics::State &state)
	reset the simulator to this state. The difference from the setState is that any changes to the non state-states such as the transform of the fixed frame, will also be updated. More...
bool	isRunning ()
	test if this thread simulator is running
double	getTime ()
	get the current simulator time in seconds
DynamicSimulator::Ptr	getSimulator ()
	gets a pointer to the simulator. Make sure to stop the simulation before calling this function, otherwise an exception will be thrown. More...
void	setStepCallBack (StepCallback cb)
	if set this callback function will be called once on start and then after each step of the simulator. More...
bool	isInError ()
	the simulator might fail because of too large penetrations. This method tests if the simulator is in an error.
void	setInError (bool inError)
	this can be used to force the resetting of an error state. More...

Public Attributes
boost::mutex	_simMutex
boost::mutex	_stateMutex

Detailed Description

Wraps a simulator in a thread safe interface, and creates a separate thread for the simulator to run in.

Member Function Documentation

getSimulator()

DynamicSimulator::Ptr getSimulator ( )

inline

gets a pointer to the simulator. Make sure to stop the simulation before calling this function, otherwise an exception will be thrown.

Returns

pointer to simulator

getState()

rw::kinematics::State getState

(

)

get the current state of the simuation

Returns

reset()

void reset

(

const rw::kinematics::State &

state

)

reset the simulator to this state. The difference from the setState is that any changes to the non state-states such as the transform of the fixed frame, will also be updated.

Parameters

state

[in] the new state

setInError()

void setInError ( bool  inError )

inline

this can be used to force the resetting of an error state.

Parameters

inError

setRealTimeScale()

void setRealTimeScale ( double  scale )

inline

This can be used to scale simulation time relative to Real World time. A scale of 1.0 makes the simulation run real time (if possible). A scale of 0.5 makes the simulation run twice as fast as real time, where a scale of 2 makes the simulation twice as slow.

1 simTime -> max( realtime * scale , simDelayInRealTime )

Parameters

scale

[in]

setState()

void setState

(

const rw::kinematics::State &

state

)

set the state of the simulator

Parameters

state

[in] the new state

setStepCallBack()

void setStepCallBack ( StepCallback  cb )

inline

if set this callback function will be called once on start and then after each step of the simulator.

Set to NULL if no callback is wanted

setTimeStep()

void setTimeStep

(

double

dt

)

sets the timestep that will be used for the calls to the step function of the simulator

Parameters

dt

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

• ThreadSimulator.hpp