#include <ControllerItem.h>

Inheritance diagram for cnoid::ControllerItem:

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 ControllerLogItem *	createLogItem ()

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 ()

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 ()
	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

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()>	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 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::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 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 Item *	doDuplicate () const
	Override this function to allow duplication of an instance. More...

virtual Item *	doDuplicate (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

typedef ControllerIO cnoid::ControllerItem::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

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

◆ createLogItem()

ControllerLogItem * ControllerItem::createLogItem ( )

virtual

Reimplemented in cnoid::BodyContactPointLoggerItem.

◆ 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

Reimplemented in cnoid::BodyContactPointLoggerItem.

◆ 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

Reimplemented from cnoid::Item.

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

◆ 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

Reimplemented from cnoid::Item.

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

◆ timeStep()

double ControllerItem::timeStep ( ) const

virtual

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

Friends And Related Function Documentation

◆ SimulatorItem

friend class SimulatorItem

friend

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Friends

Member Typedef Documentation

◆ Target

Constructor & Destructor Documentation

◆ ControllerItem() [1/2]

◆ ControllerItem() [2/2]

◆ ~ControllerItem()

Member Function Documentation

◆ control()

◆ createLogItem()

◆ doPutProperties()

◆ initialize()

◆ initializeClass()

◆ input()

◆ isActive()

◆ isImmediateMode()

◆ isNoDelayMode()

◆ log()

◆ onOptionsChanged()

◆ optionString()

◆ output()

◆ restore()

◆ setImmediateMode()

◆ setNoDelayMode()

◆ setOptions()

◆ start()

◆ stop()

◆ store()

◆ timeStep()

Friends And Related Function Documentation

◆ SimulatorItem