Choreonoid  1.8
Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Friends | List of all members
cnoid::ControllerItem Class Reference

#include <ControllerItem.h>

Inheritance diagram for cnoid::ControllerItem:
cnoid::Item cnoid::Referenced cnoid::BodyContactPointLoggerItem cnoid::BodyMotionControllerItem cnoid::MprControllerItemBase cnoid::SimpleControllerItem

Public Types

typedef ControllerIO Target
 
- 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

 ControllerItem ()
 
 ControllerItem (const ControllerItem &org)
 
virtual ~ControllerItem ()
 
bool isActive () const
 
bool isNoDelayMode () const
 
virtual void setNoDelayMode (bool on)
 
const std::string & optionString () const
 
void setOptions (const std::string &options)
 
virtual double timeStep () const
 
virtual bool initialize (ControllerIO *io)
 
virtual ControllerLogItemcreateLogItem ()
 
virtual bool start ()
 
virtual void input ()
 
virtual bool control ()
 
virtual void log ()
 
virtual void output ()
 
virtual void stop ()
 
bool isImmediateMode () const
 
void setImmediateMode (bool on)
 
- Public Member Functions inherited from cnoid::Item
virtual ~Item ()
 
Itemoperator= (const Item &rhs)=delete
 
int classId () const
 
ItemcreateNewInstance () const
 
void assign (Item *srcItem)
 Copy item properties as much as possible like the assignment operator. More...
 
Itemduplicate (Item *duplicatedParentItem=nullptr) const
 
ItemduplicateSubTree () const
 This function creates a copy of the item including its descendant items. More...
 
ItemduplicateAll () 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 ()
 This function notifies the system of a displayName change. More...
 
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
 
ItemchildItem () const
 
ItemprevItem () const
 
ItemnextItem () const
 
ItemlastChildItem () const
 
ItemparentItem () const
 
ItemheadItem () const
 
RootItemfindRootItem () const
 
bool isConnectedToRoot () const
 
ItemlocalRootItem () 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="")
 
ItemfindItem (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
 
ItemfindChildItem (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
 
ItemfindSubItem (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()> sigTreePathChanged ()
 
SignalProxy< void()> sigTreePositionChanged ()
 
SignalProxy< void(Item *topItem, Item *prevTopParentItem)> sigTreePositionChanged2 ()
 
SignalProxy< void()> sigPositionChanged ()
 
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
 Full path file name. More...
 
std::string fileName () const
 File name without the directory. More...
 
const std::string & fileFormat () const
 
const MappingfileOptions () 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)
 
ItemfindOriginalItem () const
 
ItemfindReplacementItem () 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::Item
template<class ItemType >
static ItemPredicate getItemPredicate ()
 
template<class ItemType >
static ItemPredicate getItemPredicate (std::function< bool(ItemType *item)> pred)
 
static Itemfind (const std::string &path)
 

Protected Member Functions

virtual void onOptionsChanged ()
 
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::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 ItemdoDuplicate () const
 Override this function to allow duplication of an instance. More...
 
virtual ItemdoDuplicate (Item *duplicatedParentItem) const
 
virtual bool onNewTreePositionCheck (bool isManualOperation, std::function< void()> &out_callbackWhenAdded)
 
virtual void onAddedToParent ()
 
virtual void onTreePathChanged ()
 
virtual void onTreePositionChanged ()
 
virtual void onPositionChanged ()
 
virtual void onConnectedToRoot ()
 
virtual void onRemovedFromParent (Item *parentItem, bool isParentBeingDeleted)
 
virtual void onDisconnectedFromRoot ()
 
virtual bool onChildItemAboutToBeAdded (Item *childItem, bool isManualOperation)
 
- Protected Member Functions inherited from cnoid::Referenced
 Referenced ()
 
 Referenced (const Referenced &)
 
int refCount () const
 

Friends

class SimulatorItem
 

Member Typedef Documentation

◆ Target

Constructor & Destructor Documentation

◆ ControllerItem() [1/2]

ControllerItem::ControllerItem ( )

◆ ControllerItem() [2/2]

ControllerItem::ControllerItem ( const ControllerItem org)

◆ ~ControllerItem()

ControllerItem::~ControllerItem ( )
virtual

Member Function Documentation

◆ control()

bool ControllerItem::control ( )
virtual

◆ createLogItem()

ControllerLogItem * ControllerItem::createLogItem ( )
virtual

◆ doPutProperties()

void ControllerItem::doPutProperties ( PutPropertyFunction putProperty)
overrideprotectedvirtual

This function is used to put a standard properties of the item. You can implement the standard properties by overriding this function.

Note
The overridden function should call the same function of the parent class.

Reimplemented from cnoid::Item.

Reimplemented in cnoid::MprControllerItemBase, cnoid::SimpleControllerItem, and cnoid::BodyMotionControllerItem.

◆ initialize()

bool ControllerItem::initialize ( ControllerIO io)
virtual

This function is called before the simulation world is initialized.

Note
If the io->body() returns a null pointer, a controller is not associated with a particular body. This is for a controller which does some general operations.
This function is called from the main thread.

Reimplemented in cnoid::MprControllerItemBase, cnoid::SimpleControllerItem, cnoid::BodyMotionControllerItem, and cnoid::BodyContactPointLoggerItem.

◆ initializeClass()

void ControllerItem::initializeClass ( ExtensionManager ext)
static

◆ input()

void ControllerItem::input ( )
virtual
Note
This function is called from the simulation thread.

Reimplemented in cnoid::MprControllerItemBase, cnoid::SimpleControllerItem, and cnoid::BodyMotionControllerItem.

◆ isActive()

bool ControllerItem::isActive ( ) const

◆ isImmediateMode()

bool cnoid::ControllerItem::isImmediateMode ( ) const
inline
Deprecated:
Use isNoDelayMode.

◆ isNoDelayMode()

bool cnoid::ControllerItem::isNoDelayMode ( ) const
inline

◆ log()

void ControllerItem::log ( )
virtual

◆ onOptionsChanged()

void ControllerItem::onOptionsChanged ( )
protectedvirtual

◆ optionString()

const std::string& cnoid::ControllerItem::optionString ( ) const
inline

◆ output()

void ControllerItem::output ( )
virtual
Note
This function is called from the simulation thread.

Reimplemented in cnoid::MprControllerItemBase, cnoid::SimpleControllerItem, and cnoid::BodyMotionControllerItem.

◆ restore()

bool ControllerItem::restore ( const Archive archive)
overrideprotectedvirtual

◆ setImmediateMode()

void cnoid::ControllerItem::setImmediateMode ( bool  on)
inline
Deprecated:
Use setsNoDelayMode.

◆ setNoDelayMode()

void ControllerItem::setNoDelayMode ( bool  on)
virtual

◆ setOptions()

void cnoid::ControllerItem::setOptions ( const std::string &  options)
inline

◆ start()

bool ControllerItem::start ( )
virtual

This function is called after the simulation world is initialized.

Reimplemented in cnoid::MprControllerItemBase, cnoid::SimpleControllerItem, and cnoid::BodyMotionControllerItem.

◆ stop()

void ControllerItem::stop ( )
virtual
Note
This function is called from the main thread.

Reimplemented in cnoid::MprControllerItemBase, cnoid::SimpleControllerItem, and cnoid::BodyMotionControllerItem.

◆ store()

bool ControllerItem::store ( Archive archive)
overrideprotectedvirtual

◆ timeStep()

double ControllerItem::timeStep ( ) const
virtual

Friends And Related Function Documentation

◆ SimulatorItem

friend class SimulatorItem
friend

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