cnoid::AISTSimulatorItem Class Reference

#include <AISTSimulatorItem.h>

Inheritance diagram for cnoid::AISTSimulatorItem:

Public Types
enum	DynamicsMode { FORWARD_DYNAMICS = 0, KINEMATICS, N_DYNAMICS_MODES }
enum	IntegrationMode { EULER_INTEGRATION = 0, RUNGE_KUTTA_INTEGRATION, N_INTEGRATION_MODES }
typedef std::function< bool(Link *link1, Link *link2, const CollisionArray &collisions, ContactMaterial *contactMaterial)>	CollisionHandler
Public Types inherited from cnoid::SimulatorItem
enum	RecordingMode {   FullRecording, TailRecording, NoRecording, NumRecordingModes,   REC_FULL = FullRecording, REC_TAIL = TailRecording, REC_NONE = NoRecording, N_RECORDING_MODES = NumRecordingModes }
enum	TimeRangeMode {   UnlimitedTime, SpecifiedTime, TimeBarTime, NumTimeRangeModes,   ActiveControlTime, TR_UNLIMITED = UnlimitedTime, TR_ACTIVE_CONTROL = ActiveControlTime, TR_SPECIFIED = SpecifiedTime,   TR_TIMEBAR = TimeBarTime, N_TIME_RANGE_MODES = NumTimeRangeModes }
Public Types inherited from cnoid::Item
enum	Attribute {   SubItem, Attached, Temporal, LoadOnly,   NumAttributes, SUB_ITEM = SubItem, TEMPORAL = Temporal, LOAD_ONLY = LoadOnly }
enum	CheckId { LogicalSumOfAllChecks = -1, PrimaryCheck = 0 }
typedef std::function< bool(Item *item)>	ItemPredicate

Public Member Functions
	AISTSimulatorItem ()
	AISTSimulatorItem (const AISTSimulatorItem &org)
virtual	~AISTSimulatorItem ()
void	setDynamicsMode (int mode)
void	setIntegrationMode (int mode)
void	setGravity (const Vector3 &gravity)
const Vector3 &	gravity () const
void	setFrictionCoefficientRange (double minFriction, double maxFriction)
double	minFrictionCoefficient () const
double	maxFrictionCoefficient () const
void	setContactCullingDistance (double value)
void	setContactCullingDepth (double value)
void	setErrorCriterion (double value)
void	setMaxNumIterations (int value)
void	setContactCorrectionDepth (double value)
void	setContactCorrectionVelocityRatio (double value)
void	setEpsilon (double epsilon)
void	set2Dmode (bool on)
void	setKinematicWalkingEnabled (bool on)
void	setConstraintForceOutputEnabled (bool on)
void	addExtraJoint (ExtraJoint &extraJoint)
void	clearExtraJoints ()
virtual Vector3	getGravity () const override
virtual void	setForcedPosition (BodyItem *bodyItem, const Isometry3 &T) override
virtual bool	isForcedPositionActiveFor (BodyItem *bodyItem) const override
virtual void	clearForcedPositions () override
void	registerCollisionHandler (const std::string &name, CollisionHandler handler)
bool	unregisterCollisionHandler (const std::string &name)
void	setFriction (Link *link1, Link *link2, double staticFriction, double dynamicFriction)
Public Member Functions inherited from cnoid::SimulatorItem
virtual	~SimulatorItem ()
WorldItem *	worldItem ()
virtual double	worldTimeStep ()
void	setTimeStep (double step)
bool	startSimulation (bool doReset=true)
void	stopSimulation (bool isForced=false)
void	pauseSimulation ()
void	restartSimulation ()
bool	isRunning () const
bool	isPausing () const
bool	isActive () const
	isRunning() && !isPausing() More...
int	currentFrame () const
	This can only be called from the simulation thread. More...
double	currentTime () const
	This can only be called from the simulation thread. More...
int	simulationFrame () const
	This can be called from non simulation threads. More...
double	simulationTime () const
	This can be called from non simulation threads. More...
SignalProxy< void()>	sigSimulationStarted ()
SignalProxy< void()>	sigSimulationPaused ()
SignalProxy< void()>	sigSimulationResumed ()
SignalProxy< void(bool isForced)>	sigSimulationFinished ()
void	setRecordingMode (int selection)
int	recordingMode () const
void	setTimeRangeMode (int selection)
void	setTimeLength (double length)
void	setSpecifiedRecordingTimeLength (double length)
void	setActiveControlTimeRangeMode (bool on)
bool	isActiveControlTimeRangeMode () const
void	setRealtimeSyncMode (bool on)
void	setDeviceStateOutputEnabled (bool on)
bool	isRecordingEnabled () const
bool	isDeviceStateOutputEnabled () const
bool	isAllLinkPositionOutputMode ()
virtual void	setAllLinkPositionOutputMode (bool on)
const std::string &	controllerOptionString () const
const std::vector< SimulationBody * > &	simulationBodies ()
SimulationBody *	findSimulationBody (BodyItem *bodyItem)
SimulationBody *	findSimulationBody (const std::string &name)
int	addPreDynamicsFunction (std::function< void()> func)
int	addMidDynamicsFunction (std::function< void()> func)
int	addPostDynamicsFunction (std::function< void()> func)
void	removePreDynamicsFunction (int id)
void	removeMidDynamicsFunction (int id)
void	removePostDynamicsFunction (int id)
CloneMap &	cloneMap ()
SignalProxy< void(const std::vector< SimulationBodyPtr > &simulationBodies)>	sigSimulationBodyListUpdated ()
virtual void	setExternalForce (BodyItem *bodyItem, Link *link, const Vector3 &point, const Vector3 &f, double time=0.0)
virtual void	clearExternalForces ()
virtual void	setVirtualElasticString (BodyItem *bodyItem, Link *link, const Vector3 &attachmentPoint, const Vector3 &endPoint)
virtual void	clearVirtualElasticStrings ()
Public Member Functions inherited from cnoid::Item
virtual	~Item ()
Item &	operator= (const Item &rhs)=delete
int	classId () const
Item *	createNewInstance () const
void	assign (Item *srcItem)
	Copy item properties as much as possible like the assignment operator. More...
Item *	duplicate (Item *duplicatedParentItem=nullptr) const
Item *	duplicateSubTree () const
	This function creates a copy of the item including its descendant items. More...
Item *	duplicateAll () const
const std::string &	name () const
virtual bool	setName (const std::string &name)
virtual std::string	displayName () const
void	setDisplayNameModifier (std::function< std::string(const Item *item)> modifier)
SignalProxy< void(const std::string &oldName)>	sigNameChanged ()
void	notifyNameChange ()
void	setAttribute (Attribute attribute)
void	unsetAttribute (Attribute attribute)
bool	hasAttribute (Attribute attribute) const
bool	isSubItem () const
void	setSubItemAttributes ()
bool	isTemporal () const
void	setTemporal (bool on=true)
bool	isSelected () const
void	setSelected (bool on, bool isCurrent=false)
void	setSubTreeItemsSelected (bool on)
bool	isChecked (int checkId=PrimaryCheck) const
void	setChecked (bool on)
void	setChecked (int checkId, bool on)
int	numCheckStates () const
int	numChildren () const
int	countDescendantItems () const
Item *	childItem () const
Item *	prevItem () const
Item *	nextItem () const
Item *	lastChildItem () const
Item *	parentItem () const
Item *	headItem () const
RootItem *	findRootItem () const
bool	isConnectedToRoot () const
Item *	localRootItem () const
bool	addChildItem (Item *item, bool isManualOperation=false)
bool	insertChildItem (Item *item, Item *nextItem, bool isManualOperation=false)
bool	insertChild (Item *position, Item *item, bool isManualOperation=false)
bool	addSubItem (Item *item)
bool	insertSubItem (Item *item, Item *nextItem)
void	removeFromParentItem ()
void	detachFromParentItem ()
void	clearChildren ()
template<class ItemType >
ItemType *	find (const std::string &path="")
Item *	findItem (const std::string &path) const
template<class ItemType >
ItemType *	findItem (const std::string &path) const
template<class ItemType >
ItemType *	findItem (std::function< bool(ItemType *item)> pred=nullptr) const
Item *	findChildItem (const std::string &path, std::function< bool(Item *item)> pred=nullptr) const
template<class ItemType >
ItemType *	findChildItem (const std::string &path, std::function< bool(ItemType *item)> pred=nullptr) const
template<class ItemType >
ItemType *	findChildItem (std::function< bool(ItemType *item)> pred=nullptr) const
Item *	findSubItem (const std::string &path) const
template<class ItemType >
ItemType *	findSubItem (const std::string &path="") const
template<class ItemType >
ItemType *	findOwnerItem (bool includeSelf=false) const
bool	isOwnedBy (Item *item) const
ItemList	childItems (std::function< bool(Item *item)> pred=nullptr) const
template<class ItemType >
ItemList< ItemType >	childItems (std::function< bool(ItemType *item)> pred=nullptr) const
ItemList	descendantItems (std::function< bool(Item *item)> pred=nullptr) const
template<class ItemType >
ItemList< ItemType >	descendantItems (std::function< bool(ItemType *item)> pred=nullptr) const
ItemList	selectedDescendantItems (std::function< bool(Item *item)> pred=nullptr) const
template<class ItemType >
ItemList< ItemType >	selectedDescendantItems (std::function< bool(Item *item)> pred=nullptr) const
bool	traverse (std::function< bool(Item *)> pred)
template<class ItemType >
bool	traverse (std::function< bool(ItemType *item)> pred=nullptr)
SignalProxy< void()>	sigPositionChanged ()
SignalProxy< void(Item *topItem, Item *prevTopParentItem)>	sigPositionChanged2 ()
SignalProxy< void()>	sigSubTreeChanged ()
SignalProxy< void()>	sigDisconnectedFromRoot ()
SignalProxy< void()>	sigDetachedFromRoot ()
SignalProxy< void(bool on)>	sigSelectionChanged ()
SignalProxy< void(int checkId, bool on)>	sigAnyCheckToggled ()
SignalProxy< void(bool on)>	sigCheckToggled (int checkId=PrimaryCheck)
virtual void	notifyUpdate ()
SignalProxy< void()>	sigUpdated ()
bool	setAddon (ItemAddon *addon)
void	removeAddon (ItemAddon *addon)
template<class AddonType >
AddonType *	findAddon ()
template<class AddonType >
AddonType *	getAddon ()
std::vector< ItemAddon * >	addons ()
bool	load (const std::string &filename, const std::string &format=std::string(), const Mapping *options=nullptr)
bool	load (const std::string &filename, Item *parent, const std::string &format=std::string(), const Mapping *options=nullptr)
bool	save (const std::string &filename, const std::string &format=std::string(), const Mapping *options=nullptr)
bool	overwrite (bool forceOverwrite=false, const std::string &format=std::string())
const std::string &	filePath () const
std::string	fileName () const
const std::string &	fileFormat () const
const Mapping *	fileOptions () const
std::time_t	fileModificationTime () const
bool	isConsistentWithFile () const
void	updateFileInformation (const std::string &filename, const std::string &format, Mapping *options=nullptr)
void	setConsistentWithFile (bool isConsistent)
void	suggestFileUpdate ()
void	clearFileInformation ()
	Use this function to disable the implicit overwrite next time. More...
bool	reload ()
bool	replace (Item *originalItem)
Item *	findOriginalItem () const
Item *	findReplacementItem () const
void	putProperties (PutPropertyFunction &putProperty)
Public Member Functions inherited from cnoid::Referenced
virtual	~Referenced ()

Static Public Member Functions
static void	initializeClass (ExtensionManager *ext)
Static Public Member Functions inherited from cnoid::SimulatorItem
static void	initializeClass (ExtensionManager *ext)
static SimulatorItem *	findActiveSimulatorItemFor (Item *item)
Static Public Member Functions inherited from cnoid::Item
template<class ItemType >
static ItemPredicate	getItemPredicate ()
template<class ItemType >
static ItemPredicate	getItemPredicate (std::function< bool(ItemType *item)> pred)
static Item *	find (const std::string &path)

Protected Member Functions
virtual SimulationBody *	createSimulationBody (Body *orgBody, CloneMap &cloneMap) override
virtual bool	initializeSimulation (const std::vector< SimulationBody * > &simBodies) override
virtual bool	completeInitializationOfSimulation () override
virtual bool	stepSimulation (const std::vector< SimulationBody * > &activeSimBodies) override
virtual void	finalizeSimulation () override
virtual std::shared_ptr< CollisionLinkPairList >	getCollisions () override
virtual Item *	doDuplicate () const override
	Override this function to allow duplication of an instance. More...
virtual void	doPutProperties (PutPropertyFunction &putProperty) override
virtual bool	store (Archive &archive) override
virtual bool	restore (const Archive &archive) override
Protected Member Functions inherited from cnoid::SimulatorItem
	SimulatorItem ()
	SimulatorItem (const std::string &name)
	SimulatorItem (const SimulatorItem &org)
virtual void	onPositionChanged () override
virtual void	onDisconnectedFromRoot () override
virtual void	clearSimulation ()
virtual SimulationBody *	createSimulationBody (Body *orgBody)
CollisionDetector *	getOrCreateCollisionDetector ()
CollisionDetector *	collisionDetector ()
virtual void	initializeSimulationThread ()
virtual void	finalizeSimulationThread ()
Protected Member Functions inherited from cnoid::Item
	Item ()
	Item (const std::string &name)
	Item (const Item &item)
virtual void	doAssign (Item *srcItem)
	Implement the code to copy properties like the assingment operator. More...
virtual Item *	doDuplicate (Item *duplicatedParentItem) const
virtual bool	onNewPositionCheck (bool isManualOperation, std::function< void()> &out_callbackWhenAdded)
virtual void	onAddedToParent ()
virtual void	onConnectedToRoot ()
virtual void	onRemovedFromParent (Item *parentItem, bool isParentBeingDeleted)
virtual bool	onChildItemAboutToBeAdded (Item *childItem, bool isManualOperation)
Protected Member Functions inherited from cnoid::Referenced
	Referenced ()
	Referenced (const Referenced &)
int	refCount () const

Member Typedef Documentation

CollisionHandler

typedef std::function<bool(Link* link1, Link* link2, const CollisionArray& collisions, ContactMaterial* contactMaterial)> cnoid::AISTSimulatorItem::CollisionHandler

Member Enumeration Documentation

DynamicsMode

enum cnoid::AISTSimulatorItem::DynamicsMode

Enumerator
FORWARD_DYNAMICS
KINEMATICS
N_DYNAMICS_MODES

IntegrationMode

enum cnoid::AISTSimulatorItem::IntegrationMode

Enumerator
EULER_INTEGRATION
RUNGE_KUTTA_INTEGRATION
N_INTEGRATION_MODES

Constructor & Destructor Documentation

AISTSimulatorItem() [1/2]

AISTSimulatorItem::AISTSimulatorItem

(

)

AISTSimulatorItem() [2/2]

AISTSimulatorItem::AISTSimulatorItem

(

const AISTSimulatorItem &

org

)

~AISTSimulatorItem()

AISTSimulatorItem::~AISTSimulatorItem ( )

virtual

Member Function Documentation

addExtraJoint()

void AISTSimulatorItem::addExtraJoint

(

ExtraJoint &

extraJoint

)

clearExtraJoints()

void AISTSimulatorItem::clearExtraJoints

(

)

clearForcedPositions()

void AISTSimulatorItem::clearForcedPositions ( )

overridevirtual

Reimplemented from cnoid::SimulatorItem.

completeInitializationOfSimulation()

bool AISTSimulatorItem::completeInitializationOfSimulation ( )

overrideprotectedvirtual

This function is called after all the initializetion processes including those of controllers and sub simulators to complete the initialization of simulation.

Note

This function is called from the main thread.

Reimplemented from cnoid::SimulatorItem.

createSimulationBody()

SimulationBody * AISTSimulatorItem::createSimulationBody ( Body *  orgBody, CloneMap &  cloneMap  )

overrideprotectedvirtual

Note

orgBody should not owned by the SimulationBody instance. Instead it must clone a body instance using cloneMap and use it for the simulation.

This function should be a pure virtual function when the old function is removed.

Reimplemented from cnoid::SimulatorItem.

doDuplicate()

Item * AISTSimulatorItem::doDuplicate ( ) const

overrideprotectedvirtual

Override this function to allow duplication of an instance.

Reimplemented from cnoid::Item.

doPutProperties()

void AISTSimulatorItem::doPutProperties ( PutPropertyFunction &  putProperty )

overrideprotectedvirtual

Override this function to put properties of the item.

Note

Please call doPutProperties() of the parent class in this function. For example, when your class directly inherits the Item class, call Item::doPutProperties(putProperty).

Reimplemented from cnoid::SimulatorItem.

finalizeSimulation()

void AISTSimulatorItem::finalizeSimulation ( )

overrideprotectedvirtual

Note

This function is called from the main thread.

Reimplemented from cnoid::SimulatorItem.

getCollisions()

std::shared_ptr< CollisionLinkPairList > AISTSimulatorItem::getCollisions ( )

overrideprotectedvirtual

Reimplemented from cnoid::SimulatorItem.

getGravity()

Vector3 AISTSimulatorItem::getGravity ( ) const

overridevirtual

Note

This function should be a pure virtual function

Reimplemented from cnoid::SimulatorItem.

gravity()

const Vector3 & AISTSimulatorItem::gravity

(

)

const

initializeClass()

void AISTSimulatorItem::initializeClass ( ExtensionManager *  ext )

static

initializeSimulation()

bool AISTSimulatorItem::initializeSimulation ( const std::vector< SimulationBody * > &  simBodies )

overrideprotectedvirtual

Parameters

simBodies

SimulatorBody objects which have a valid body

Note

This function is called from the main thread.

Implements cnoid::SimulatorItem.

isForcedPositionActiveFor()

bool AISTSimulatorItem::isForcedPositionActiveFor ( BodyItem *  bodyItem ) const

overridevirtual

Reimplemented from cnoid::SimulatorItem.

maxFrictionCoefficient()

double AISTSimulatorItem::maxFrictionCoefficient

(

)

const

minFrictionCoefficient()

double AISTSimulatorItem::minFrictionCoefficient

(

)

const

registerCollisionHandler()

void AISTSimulatorItem::registerCollisionHandler	(	const std::string &	name,
		CollisionHandler	handler
	)

restore()

bool AISTSimulatorItem::restore ( const Archive &  archive )

overrideprotectedvirtual

Reimplemented from cnoid::SimulatorItem.

set2Dmode()

void AISTSimulatorItem::set2Dmode

(

bool

on

)

setConstraintForceOutputEnabled()

void AISTSimulatorItem::setConstraintForceOutputEnabled

(

bool

on

)

setContactCorrectionDepth()

void AISTSimulatorItem::setContactCorrectionDepth

(

double

value

)

setContactCorrectionVelocityRatio()

void AISTSimulatorItem::setContactCorrectionVelocityRatio

(

double

value

)

setContactCullingDepth()

void AISTSimulatorItem::setContactCullingDepth

(

double

value

)

setContactCullingDistance()

void AISTSimulatorItem::setContactCullingDistance

(

double

value

)

setDynamicsMode()

void AISTSimulatorItem::setDynamicsMode

(

int

mode

)

setEpsilon()

void AISTSimulatorItem::setEpsilon

(

double

epsilon

)

setErrorCriterion()

void AISTSimulatorItem::setErrorCriterion

(

double

value

)

setForcedPosition()

void AISTSimulatorItem::setForcedPosition ( BodyItem *  bodyItem, const Isometry3 &  T  )

overridevirtual

Reimplemented from cnoid::SimulatorItem.

setFriction()

void AISTSimulatorItem::setFriction	(	Link *	link1,
		Link *	link2,
		double	staticFriction,
		double	dynamicFriction
	)

Deprecated:

setFrictionCoefficientRange()

void AISTSimulatorItem::setFrictionCoefficientRange	(	double	minFriction,
		double	maxFriction
	)

setGravity()

void AISTSimulatorItem::setGravity

(

const Vector3 &

gravity

)

setIntegrationMode()

void AISTSimulatorItem::setIntegrationMode

(

int

mode

)

setKinematicWalkingEnabled()

void AISTSimulatorItem::setKinematicWalkingEnabled

(

bool

on

)

setMaxNumIterations()

void AISTSimulatorItem::setMaxNumIterations

(

int

value

)

stepSimulation()

bool AISTSimulatorItem::stepSimulation ( const std::vector< SimulationBody * > &  activeSimBodies )

overrideprotectedvirtual

This function is called from the simulation loop thread.

Parameters

activeSimBodies

SimulatorBody objects which are non-static ones.

Implements cnoid::SimulatorItem.

store()

bool AISTSimulatorItem::store ( Archive &  archive )

overrideprotectedvirtual

Reimplemented from cnoid::SimulatorItem.

unregisterCollisionHandler()

bool AISTSimulatorItem::unregisterCollisionHandler

(

const std::string &

name

)

---

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

• AISTSimulatorItem.h
• AISTSimulatorItem.cpp