cnoid::SimulatorItem Class Reference

#include <SimulatorItem.h>

Inheritance diagram for cnoid::SimulatorItem:

Public Types
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
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 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
	SimulatorItem ()
	SimulatorItem (const std::string &name)
	SimulatorItem (const SimulatorItem &org)
virtual void	onTreePathChanged () override
virtual void	onDisconnectedFromRoot () override
virtual void	clearSimulation ()
virtual SimulationBody *	createSimulationBody (Body *orgBody, CloneMap &cloneMap)
virtual SimulationBody *	createSimulationBody (Body *orgBody)
CollisionDetector *	getOrCreateCollisionDetector ()
CollisionDetector *	collisionDetector ()
virtual bool	initializeSimulation (const std::vector< SimulationBody * > &simBodies)=0
virtual bool	completeInitializationOfSimulation ()
virtual void	initializeSimulationThread ()
virtual void	finalizeSimulationThread ()
virtual bool	stepSimulation (const std::vector< SimulationBody * > &activeSimBodies)=0
virtual void	finalizeSimulation ()
virtual std::shared_ptr< CollisionLinkPairList >	getCollisions ()
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	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

Friends
class	SimulationBody
class	SimulatedMotionEngineManager

Member Enumeration Documentation

RecordingMode

enum cnoid::SimulatorItem::RecordingMode

Enumerator
FullRecording
TailRecording
NoRecording
NumRecordingModes
REC_FULL
REC_TAIL
REC_NONE
N_RECORDING_MODES

TimeRangeMode

enum cnoid::SimulatorItem::TimeRangeMode

Enumerator
UnlimitedTime
SpecifiedTime
TimeBarTime
NumTimeRangeModes
ActiveControlTime
TR_UNLIMITED
TR_ACTIVE_CONTROL
TR_SPECIFIED
TR_TIMEBAR
N_TIME_RANGE_MODES

Constructor & Destructor Documentation

~SimulatorItem()

SimulatorItem::~SimulatorItem ( )

virtual

SimulatorItem() [1/3]

SimulatorItem::SimulatorItem ( )

protected

SimulatorItem() [2/3]

SimulatorItem::SimulatorItem ( const std::string &  name )

protected

SimulatorItem() [3/3]

SimulatorItem::SimulatorItem ( const SimulatorItem &  org )

protected

Member Function Documentation

addMidDynamicsFunction()

int SimulatorItem::addMidDynamicsFunction

(

std::function< void()>

func

)

addPostDynamicsFunction()

int SimulatorItem::addPostDynamicsFunction

(

std::function< void()>

func

)

addPreDynamicsFunction()

int SimulatorItem::addPreDynamicsFunction

(

std::function< void()>

func

)

Returns

The registration id of the function. The id can be used for removing the function.

clearExternalForces()

void SimulatorItem::clearExternalForces ( )

virtual

clearForcedPositions()

void SimulatorItem::clearForcedPositions ( )

virtual

Reimplemented in cnoid::AISTSimulatorItem.

clearSimulation()

void SimulatorItem::clearSimulation ( )

protectedvirtual

Reimplemented in cnoid::KinematicSimulatorItem.

clearVirtualElasticStrings()

void SimulatorItem::clearVirtualElasticStrings ( )

virtual

cloneMap()

CloneMap & SimulatorItem::cloneMap

(

)

collisionDetector()

CollisionDetector * SimulatorItem::collisionDetector ( )

protected

Deprecated:

. Use getOrCreateCollisionDetector().

completeInitializationOfSimulation()

bool SimulatorItem::completeInitializationOfSimulation ( )

protectedvirtual

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 in cnoid::AISTSimulatorItem.

controllerOptionString()

const std::string & SimulatorItem::controllerOptionString

(

)

const

createSimulationBody() [1/2]

SimulationBody * SimulatorItem::createSimulationBody ( Body *  orgBody )

protectedvirtual

Deprecated:

. This is an old interface. Use createSimulationBody(Body* orgBody, CloneMap& cloneMap).

createSimulationBody() [2/2]

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

protectedvirtual

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 in cnoid::AISTSimulatorItem, and cnoid::KinematicSimulatorItem.

currentFrame()

int SimulatorItem::currentFrame

(

)

const

This can only be called from the simulation thread.

currentTime()

double SimulatorItem::currentTime

(

)

const

This can only be called from the simulation thread.

doPutProperties()

void SimulatorItem::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::AISTSimulatorItem, and cnoid::KinematicSimulatorItem.

finalizeSimulation()

void SimulatorItem::finalizeSimulation ( )

protectedvirtual

Note

This function is called from the main thread.

Reimplemented in cnoid::AISTSimulatorItem, and cnoid::KinematicSimulatorItem.

finalizeSimulationThread()

void SimulatorItem::finalizeSimulationThread ( )

protectedvirtual

findActiveSimulatorItemFor()

SimulatorItem * SimulatorItem::findActiveSimulatorItemFor ( Item *  item )

static

findSimulationBody() [1/2]

SimulationBody * SimulatorItem::findSimulationBody

(

BodyItem *

bodyItem

)

findSimulationBody() [2/2]

SimulationBody * SimulatorItem::findSimulationBody

(

const std::string &

name

)

getCollisions()

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

protectedvirtual

Reimplemented in cnoid::AISTSimulatorItem.

getGravity()

Vector3 SimulatorItem::getGravity ( ) const

virtual

Note

This function should be a pure virtual function

Reimplemented in cnoid::AISTSimulatorItem.

getOrCreateCollisionDetector()

CollisionDetector * SimulatorItem::getOrCreateCollisionDetector ( )

protected

initializeClass()

void SimulatorItem::initializeClass ( ExtensionManager *  ext )

static

initializeSimulation()

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

protectedpure virtual

Parameters

simBodies

SimulatorBody objects which have a valid body

Note

This function is called from the main thread.

Implemented in cnoid::AISTSimulatorItem, and cnoid::KinematicSimulatorItem.

initializeSimulationThread()

void SimulatorItem::initializeSimulationThread ( )

protectedvirtual

isActive()

bool SimulatorItem::isActive

(

)

const

isRunning() && !isPausing()

isActiveControlTimeRangeMode()

bool SimulatorItem::isActiveControlTimeRangeMode

(

)

const

isAllLinkPositionOutputMode()

bool SimulatorItem::isAllLinkPositionOutputMode

(

)

isDeviceStateOutputEnabled()

bool SimulatorItem::isDeviceStateOutputEnabled

(

)

const

isForcedPositionActiveFor()

bool SimulatorItem::isForcedPositionActiveFor ( BodyItem *  bodyItem ) const

virtual

Reimplemented in cnoid::AISTSimulatorItem.

isPausing()

bool SimulatorItem::isPausing

(

)

const

isRecordingEnabled()

bool SimulatorItem::isRecordingEnabled

(

)

const

isRunning()

bool SimulatorItem::isRunning

(

)

const

onDisconnectedFromRoot()

void SimulatorItem::onDisconnectedFromRoot ( )

overrideprotectedvirtual

Reimplemented from cnoid::Item.

onTreePathChanged()

void SimulatorItem::onTreePathChanged ( )

overrideprotectedvirtual

This function is called at the same time as sigTreePathChanged. The order in which it is called precedes the signal. By overriding this function in a derived item class, you can implement the necessary processing when the path in the item tree is changed.

Reimplemented from cnoid::Item.

pauseSimulation()

void SimulatorItem::pauseSimulation

(

)

recordingMode()

int SimulatorItem::recordingMode

(

)

const

removeMidDynamicsFunction()

void SimulatorItem::removeMidDynamicsFunction

(

int

id

)

removePostDynamicsFunction()

void SimulatorItem::removePostDynamicsFunction

(

int

id

)

removePreDynamicsFunction()

void SimulatorItem::removePreDynamicsFunction

(

int

id

)

restartSimulation()

void SimulatorItem::restartSimulation

(

)

restore()

bool SimulatorItem::restore ( const Archive &  archive )

overrideprotectedvirtual

Reimplemented from cnoid::Item.

Reimplemented in cnoid::AISTSimulatorItem, and cnoid::KinematicSimulatorItem.

setActiveControlTimeRangeMode()

void SimulatorItem::setActiveControlTimeRangeMode

(

bool

on

)

setAllLinkPositionOutputMode()

void SimulatorItem::setAllLinkPositionOutputMode ( bool  on )

virtual

setDeviceStateOutputEnabled()

void SimulatorItem::setDeviceStateOutputEnabled

(

bool

on

)

setExternalForce()

void SimulatorItem::setExternalForce ( BodyItem *  bodyItem, Link *  link, const Vector3 &  point, const Vector3 &  f, double  time = 0.0  )

virtual

Parameters

point	link local position to apply the force
f	linear force to apply in global coordinate

setForcedPosition()

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

virtual

Reimplemented in cnoid::AISTSimulatorItem.

setRealtimeSyncMode()

void SimulatorItem::setRealtimeSyncMode

(

bool

on

)

setRecordingMode()

void SimulatorItem::setRecordingMode

(

int

selection

)

setSpecifiedRecordingTimeLength()

void cnoid::SimulatorItem::setSpecifiedRecordingTimeLength ( double  length )

inline

setTimeLength()

void SimulatorItem::setTimeLength

(

double

length

)

setTimeRangeMode()

void SimulatorItem::setTimeRangeMode

(

int

selection

)

setTimeStep()

void SimulatorItem::setTimeStep

(

double

step

)

setVirtualElasticString()

void SimulatorItem::setVirtualElasticString ( BodyItem *  bodyItem, Link *  link, const Vector3 &  attachmentPoint, const Vector3 &  endPoint  )

virtual

Parameters

attachmentPoint

link local position

sigSimulationBodyListUpdated()

SignalProxy<void(const std::vector<SimulationBodyPtr>& simulationBodies)> cnoid::SimulatorItem::sigSimulationBodyListUpdated

(

)

Note

This signal is emitted in the simulation thread

sigSimulationFinished()

SignalProxy< void(bool isForced)> SimulatorItem::sigSimulationFinished

(

)

sigSimulationPaused()

SignalProxy< void()> SimulatorItem::sigSimulationPaused

(

)

sigSimulationResumed()

SignalProxy< void()> SimulatorItem::sigSimulationResumed

(

)

sigSimulationStarted()

SignalProxy< void()> SimulatorItem::sigSimulationStarted

(

)

simulationBodies()

const std::vector< SimulationBody * > & SimulatorItem::simulationBodies

(

)

For sub simulators

simulationFrame()

int SimulatorItem::simulationFrame

(

)

const

This can be called from non simulation threads.

simulationTime()

double SimulatorItem::simulationTime

(

)

const

This can be called from non simulation threads.

startSimulation()

bool SimulatorItem::startSimulation

(

bool

doReset = true

)

stepSimulation()

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

protectedpure virtual

This function is called from the simulation loop thread.

Parameters

activeSimBodies

SimulatorBody objects which are non-static ones.

Implemented in cnoid::AISTSimulatorItem, and cnoid::KinematicSimulatorItem.

stopSimulation()

void SimulatorItem::stopSimulation

(

bool

isForced = false

)

store()

bool SimulatorItem::store ( Archive &  archive )

overrideprotectedvirtual

Reimplemented from cnoid::Item.

Reimplemented in cnoid::AISTSimulatorItem, and cnoid::KinematicSimulatorItem.

worldItem()

WorldItem * SimulatorItem::worldItem

(

)

worldTimeStep()

double SimulatorItem::worldTimeStep ( )

virtual

Friends And Related Function Documentation

SimulatedMotionEngineManager

friend class SimulatedMotionEngineManager

friend

SimulationBody

friend class SimulationBody

friend

---

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

• SimulatorItem.h
• SimulatorItem.cpp