#include <KinematicSimulatorItem.h>

Inheritance diagram for cnoid::KinematicSimulatorItem:

Public Member Functions
	KinematicSimulatorItem ()

	KinematicSimulatorItem (const KinematicSimulatorItem &org)

virtual	~KinematicSimulatorItem ()

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

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 Vector3	getGravity () const

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 ()

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

virtual bool	isForcedPositionActiveFor (BodyItem *bodyItem) const

virtual void	clearForcedPositions ()

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::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 void	clearSimulation () override

virtual SimulationBody *	createSimulationBody (Body *orgBody, CloneMap &cloneMap) override

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

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

virtual void	finalizeSimulation () override

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	onTreePathChanged () override

virtual void	onDisconnectedFromRoot () override

virtual SimulationBody *	createSimulationBody (Body *orgBody)

CollisionDetector *	getOrCreateCollisionDetector ()

CollisionDetector *	collisionDetector ()

virtual bool	completeInitializationOfSimulation ()

virtual void	initializeSimulationThread ()

virtual void	finalizeSimulationThread ()

virtual std::shared_ptr< CollisionLinkPairList >	getCollisions ()

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	onNewTreePositionCheck (bool isManualOperation, std::function< void()> &out_callbackWhenAdded)

virtual void	onAddedToParent ()

virtual void	onTreePositionChanged ()

virtual void	onPositionChanged ()

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

Additional Inherited Members
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

Constructor & Destructor Documentation

◆ KinematicSimulatorItem() [1/2]

KinematicSimulatorItem::KinematicSimulatorItem ( )

◆ KinematicSimulatorItem() [2/2]

KinematicSimulatorItem::KinematicSimulatorItem ( const KinematicSimulatorItem & org )

◆ ~KinematicSimulatorItem()

KinematicSimulatorItem::~KinematicSimulatorItem ( )

virtual

Member Function Documentation

◆ clearSimulation()

void KinematicSimulatorItem::clearSimulation ( )

overrideprotectedvirtual

Reimplemented from cnoid::SimulatorItem.

◆ createSimulationBody()

SimulationBody * KinematicSimulatorItem::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 * KinematicSimulatorItem::doDuplicate ( ) const

overridevirtual

Override this function to allow duplication of an instance.

Reimplemented from cnoid::Item.

◆ doPutProperties()

void KinematicSimulatorItem::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::SimulatorItem.

◆ finalizeSimulation()

void KinematicSimulatorItem::finalizeSimulation ( )

overrideprotectedvirtual

Note: This function is called from the main thread.

Reimplemented from cnoid::SimulatorItem.

◆ initializeClass()

void KinematicSimulatorItem::initializeClass ( ExtensionManager * ext )

static

◆ initializeSimulation()

bool KinematicSimulatorItem::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.

◆ restore()

bool KinematicSimulatorItem::restore ( const Archive & archive )

overrideprotectedvirtual

Reimplemented from cnoid::SimulatorItem.

◆ stepSimulation()

bool KinematicSimulatorItem::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 KinematicSimulatorItem::store ( Archive & archive )

overrideprotectedvirtual

Reimplemented from cnoid::SimulatorItem.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ KinematicSimulatorItem() [1/2]

◆ KinematicSimulatorItem() [2/2]

◆ ~KinematicSimulatorItem()

Member Function Documentation

◆ clearSimulation()

◆ createSimulationBody()

◆ doDuplicate()

◆ doPutProperties()

◆ finalizeSimulation()

◆ initializeClass()

◆ initializeSimulation()

◆ restore()

◆ stepSimulation()

◆ store()